Industrial Robot Bill of Materials: Difference between revisions
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(Added costs and edited all items, initial est. grand total available) |
(Edited costs, put variable on powercube and hence new grand total) |
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| Line 16: | Line 16: | ||
! 1 | ! 1 | ||
! Rotates base of industrial robot | ! Rotates base of industrial robot | ||
!est | !est under 150 | ||
! surpluscenter | ! surpluscenter | ||
| Line 23: | Line 23: | ||
! 1 | ! 1 | ||
! Tilts main arm of industrial robot from base | ! Tilts main arm of industrial robot from base | ||
! | ! es under 150 | ||
! surpluscenter | ! surpluscenter | ||
| Line 30: | Line 30: | ||
! 1 | ! 1 | ||
! Tilts forearm of industrial robot from main arm | ! Tilts forearm of industrial robot from main arm | ||
! est | ! est under 150 | ||
! surpluscenter | ! surpluscenter | ||
| Line 37: | Line 37: | ||
! 1 | ! 1 | ||
! Rotates wrist of industrial robot from forearm | ! Rotates wrist of industrial robot from forearm | ||
! est | ! est under 150 | ||
! surpluscenter | ! surpluscenter | ||
| Line 44: | Line 44: | ||
! 1 | ! 1 | ||
! Tilts wrist of industrial robot | ! Tilts wrist of industrial robot | ||
! est | ! est under 150 | ||
! surpluscenter | ! surpluscenter | ||
| Line 51: | Line 51: | ||
! 1 | ! 1 | ||
! Rotates end-effector of industrial robot | ! Rotates end-effector of industrial robot | ||
! est | ! est under 150 | ||
! surpluscenter | ! surpluscenter | ||
| Line 517: | Line 517: | ||
|-align="left" | |-align="left" | ||
! Powercube | ! Powercube | ||
! 1? | ! 1? | ||
! As prime mover-connected pump and reservoir for hydraulic system | ! As prime mover-connected pump and reservoir for hydraulic system | ||
! | ! P | ||
! | ! | ||
| Line 597: | Line 597: | ||
! 1 | ! 1 | ||
! Flow control for joint 1 hydraulic motor | ! Flow control for joint 1 hydraulic motor | ||
! est under | ! est under 43 | ||
! | ! | ||
| Line 604: | Line 604: | ||
! 1 | ! 1 | ||
! Flow control for joint 2 hydraulic motor | ! Flow control for joint 2 hydraulic motor | ||
! est under | ! est under 43 | ||
! | ! | ||
| Line 611: | Line 611: | ||
! 1 | ! 1 | ||
! Flow control for joint 3 hydraulic motor | ! Flow control for joint 3 hydraulic motor | ||
! est under | ! est under 43 | ||
! | ! | ||
| Line 639: | Line 639: | ||
! 1 | ! 1 | ||
! Flow control for joint 4 hydraulic motor | ! Flow control for joint 4 hydraulic motor | ||
! est under | ! est under 43 | ||
! surpluscentre | ! surpluscentre | ||
| Line 646: | Line 646: | ||
! 1 | ! 1 | ||
! Flow control for joint 5 hydraulic motor | ! Flow control for joint 5 hydraulic motor | ||
! est under | ! est under 43 | ||
! surpluscentre | ! surpluscentre | ||
| Line 653: | Line 653: | ||
! 1 | ! 1 | ||
! Flow control for joint 6 hydraulic motor | ! Flow control for joint 6 hydraulic motor | ||
! est under | ! est under 43 | ||
! surpluscentre | ! surpluscentre | ||
| Line 681: | Line 681: | ||
! 1 | ! 1 | ||
! 2?-position directional control for joint 1 hydraulic motor | ! 2?-position directional control for joint 1 hydraulic motor | ||
! est under | ! est under 50 | ||
! | ! | ||
| Line 688: | Line 688: | ||
! 1 | ! 1 | ||
! 2?-position directional control for joint 2 hydraulic motor | ! 2?-position directional control for joint 2 hydraulic motor | ||
! est under | ! est under 50 | ||
! | ! | ||
| Line 695: | Line 695: | ||
! 1 | ! 1 | ||
! 2?-position directional control for joint 3 hydraulic motor | ! 2?-position directional control for joint 3 hydraulic motor | ||
! est under | ! est under 50 | ||
! | ! | ||
| Line 702: | Line 702: | ||
! 1 | ! 1 | ||
! 2?-position directional control for joint 4 hydraulic motor | ! 2?-position directional control for joint 4 hydraulic motor | ||
! est under | ! est under 50 | ||
! | ! | ||
| Line 709: | Line 709: | ||
! 1 | ! 1 | ||
! 2?-position directional control for joint 5 hydraulic motor | ! 2?-position directional control for joint 5 hydraulic motor | ||
! est under | ! est under 50 | ||
! | ! | ||
| Line 716: | Line 716: | ||
! 1 | ! 1 | ||
! 2?-position directional control for joint 6 hydraulic motor | ! 2?-position directional control for joint 6 hydraulic motor | ||
! est under | ! est under 50 | ||
! | ! | ||
| Line 849: | Line 849: | ||
! 1 | ! 1 | ||
! To power various electronic components | ! To power various electronic components | ||
! guess under | ! guess under 100 | ||
! | ! | ||
| Line 877: | Line 877: | ||
! 1 | ! 1 | ||
! To receive computer signals and shaft encoder signals; to command stepper motor drivers and solenoid drivers | ! To receive computer signals and shaft encoder signals; to command stepper motor drivers and solenoid drivers | ||
! est under | ! est under 60 | ||
! | ! | ||
| Line 898: | Line 898: | ||
! 6 | ! 6 | ||
! To allow electric operation of joint 1-6 needle valves | ! To allow electric operation of joint 1-6 needle valves | ||
! | ! est under 160 | ||
! | ! | ||
| Line 919: | Line 919: | ||
! (6 channels) | ! (6 channels) | ||
! To receive microcontroller signals and give electric current to joint 1-6 solenoid valves | ! To receive microcontroller signals and give electric current to joint 1-6 solenoid valves | ||
! est under | ! est under 78 | ||
! | ! | ||
| Line 939: | Line 939: | ||
! Grand Total | ! Grand Total | ||
! | ! | ||
! Sum of guesses | ! Sum of guesses and informed estimates | ||
! | ! 5578 + P | ||
! | ! | ||
Revision as of 01:48, 29 May 2011
| Industrial Robot | ||
|---|---|---|
| Home | Research & Development | Bill of Materials | Manufacturing Instructions | User's Manual | User Reviews | 
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The following is a general bill of materials for the industrial robot with *minimum frame mechanical design*, *hydraulic drive through solenoid valve and stepper motor controlled needle valve*, and *basic electrical configuration*. Note: this bill of materials is not fully developed and may not reflect the optimal design of the industrial robot. As such, this BOM is still a work in progress.
| PART NAME | NUMBER NEEDED | PURPOSE | COST | SUGGESTED SOURCE |
|---|---|---|---|---|
| Joint 1 Hydraulic Motor | 1 | Rotates base of industrial robot | est under 150 | surpluscenter |
| Joint 2 Hydraulic Motor | 1 | Tilts main arm of industrial robot from base | es under 150 | surpluscenter |
| Joint 3 Hydraulic Motor | 1 | Tilts forearm of industrial robot from main arm | est under 150 | surpluscenter |
| Joint 4 Hydraulic Motor | 1 | Rotates wrist of industrial robot from forearm | est under 150 | surpluscenter |
| Joint 5 Hydraulic Motor | 1 | Tilts wrist of industrial robot | est under 150 | surpluscenter |
| Joint 6 Hydraulic Motor | 1 | Rotates end-effector of industrial robot | est under 150 | surpluscenter |
| Foundation Underplate | 1 | Ground contact mount for industrial robot (15" by 15" by 0.25" A36 steel plate) | est. under 130 | |
| Foundation Underplate Bolt | 4 | Fastener piece for foundation underplate to support (stainless steel 18-8, 1/2”-13 diameter and threads per inch, 3" length, hex bolt) | est. under 6 | |
| Foundation Underplate Washer | 4 | Fastener piece for foundation underplate to support (stainless steel 18-8, 1/2” inner diameter washer) | est. under 1 | |
| Foundation Underplate Nut | 4 | Fastener piece for foundation underplate to support (stainless steel 18-8, 1/2”-13 diameter and threads per inch, hex nut) | est under 2 | |
| Foundation Underplate MIG Welding Consumables | Materials for welding the foundation pillars onto the foundation underplate | guess under 10 | ||
| Foundation Pillar | 4 | Supporting frame between foundation plates(2” by 2” by 10”, A36 steel square bar) | est under 100 | |
| Foundation Pillar Angle | 4 | Connector piece between foundation pillars and foundation overplate (2” width A by 2” width B by 2” length, A36 steel angle, 0.25” thickness) | est under 6 | |
| Foundation Pillar Bolt | 16 | Fastener piece between foundation pillars and foundation overplate (stainless steel 18-8, 1/4”-20 diameter and threads per inch, 3” length, hex bolt) | est under 7 | |
| Foundation Pillar Washer | 16 | Fastener piece between foundation pillars and foundation overplate (stainless steel 18-8, 1/4” inner diameter washer) | est under 1 | |
| Foundation Pillar Nut | 16 | Fastener piece between foundation pillars and foundation overplate (stainless steel 18-8, 1/4”-20 diameter and threads per inch, hex nut) | est under 2 | |
| Foundation Overplate | 1 | Mid-air mount for industrial robot (11” by 11” by 0.25” A36 steel plate) | est under 90 | |
| Base Angle | 1 | Base for industrial robot on top of foundation overplate (8” width A by 8” width B by 8” length A36 steel angle, 1” thickness) | est under 90 | |
| Joint 1 Gearbox | 1 | Enables rotation of baseplate relative to foundation overplate and insertion of motor shaft for rotation control | guess under 100 | |
| Joint 1 Gearbox Bolt | 10? | Fastener piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt) | guess under 15 | |
| Joint 1 Gearbox Washer | 10? | Fastener piece (stainless steel 18-8, x inner diameter washer) | guess under 2 | |
| Joint 1 Gearbox Nut | 10? | Fastener piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut) | guess under 4 | |
| Joint 1 Motor Bolt | 4? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt) | guess under 6 | |
| Joint 1 Motor Washer | 4? | Fastener Piece (stainless steel 18-8, x inner diameter washer) | guess under 1 | |
| Joint 1 Motor Nut | 4? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut) | guess under 1 | |
| Joint 2 Hydraulic Motor Bolt | 4? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt) | guess under 6 | |
| Joint 2 Hydraulic Motor Washer | 4? | Fastener Piece (stainless steel 18-8, x inner diameter washer) | guess under 1 | |
| Joint 2 Hydraulic Motor Nut | 4? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut) | guess under 1 | |
| Joint 2 Gearbox | 1 | Enables tilting of main arm relative to baseplate and control through shaft | guess under 100 | |
| Joint 2 Gearbox Bolt | 10? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt) | guess under 15 | |
| Joint 2 Gearbox Washer | 10? | Fastener Piece (stainless steel 18-8, x inner diameter washer) | guess under 2 | |
| Joint 2 Gearbox Nut | 10? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut) | guess under 4 | |
| Main Arm | 1 | Frame piece from baseplate to elbow (48“ by 6” by 2” A36 steel bar) | est under 300 | |
| Joint 3 Gearbox | 1 | Enables tilting of forearm relative to main arm, and control through shaft | guess under 100 | |
| Joint 3 Gearbox Bolt | 10? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt) | guess under 15 | |
| Joint 3 Gearbox Washer | 10? | Fastener Piece (stainless steel 18-8, x inner diameter washer) | guess under 2 | |
| Joint 3 Gearbox Nut | 10? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut) | guess under 4 | |
| Joint 3 Hydraulic Motor Bolt | 4? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt) | guess under 6 | |
| Joint 3 Hydraulic Motor Washer | 4? | Fastener Piece (stainless steel 18-8, x inner diameter washer) | guess under 1 | |
| Joint 3 Hydraulic Motor Nut | 4? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut) | guess under 1 | |
| Forearm | 1 | Frame piece connecting elbow to wrist (18” by 6” by 2” A36 steel bar) | est under 150 | |
| Forearm L-piece | 1 | For mounting of joint 4 hydraulic motor (8” width A by 8” width B by 8” length steel L-piece, 1” thickness) | est under 90 | |
| Forearm L-piece Bolt | 4 | Fastener Piece (stainless steel 18-8, 1/2”-13 diameter and threads per inch, z length, hex bolt) | est under 6 | |
| Forearm L-piece Washer | 4 | Fastener Piece (stainless steel 18-8, 1/2” inner diameter washer) | est under 1 | |
| Forearm L-piece Nut | 4 | Fastener Piece (stainless steel 18-8, 1/2”-13 diameter and threads per inch, hex nut) | est under 2 | |
| Joint 4 Hydraulic Motor Bolt | 4? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt) | guess under 6 | |
| Joint 4 Hydraulic Motor Washer | 4? | Fastener Piece (stainless steel 18-8, x inner diameter washer) | guess under 1 | |
| Joint 4 Hydraulic Motor Nut | 4? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut) | guess under 1 | |
| Joint 4 Gearbox | 1 | Enables rotation of wrist relative to forearm and control through shaft | guess under 100 | |
| Joint 4 Gearbox Bolt | 10? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt) | guess under 15 | |
| Joint 4 Gearbox Washer | 10? | Fastener Piece (stainless steel 18-8, x inner diameter washer) | guess under 1 | |
| Joint 4 Gearbox Nut | 10? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut) | guess under 2 | |
| Wrist L-piece | 1 | For mounting of joint 5 hydraulic motor (8” width A by 8” width B by 8” length steel L-piece, 1” thickness) | est under 90 | |
| Joint 5 Hydraulic Motor Bolt | 4? | Fastener piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt) | guess under 6 | |
| Joint 5 Hydraulic Motor Washer | 4? | Fastener piece (stainless steel 18-8, x inner diameter washer) | guess under 1 | |
| Joint 5 Hydraulic Motor Nut | 4? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut) | guess under 1 | |
| Joint 5 Gearbox | 1 | Enables tilting of wrist relative to forearm and control through shaft | guess under 100 | |
| Joint 5 Gearbox Bolt | 10? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt) | guess under 15 | |
| Joint 5 Gearbox Washer | 10? | Fastener Piece (stainless steel 18-8, x inner diameter washer) | guess under 2 | |
| Joint 5 Gearbox Nut | 10? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut) | guess under 2 | |
| Wrist Plate | 1 | Frame piece connecting Joint 5 L-piece to Joint 6 L-piece (18” by 6” by 2” A36 steel bar) | est under 150 | |
| Joint 6 L-piece | 1 | For mounting of joint 6 hydraulic motor (8” by 8” by 8” L-piece, 1” thickness) | est under 90 | |
| Joint 6 L-piece Bolt | 4 | Fastener Piece (stainless steel 18-8, 1/2”-13” diameter and threads per inch, z length, hex bolt) | est under 6 | |
| Joint 6 L-piece Washer | 4 | Fastener Piece (stainless steel 18-8, 1/2” inner diameter washer) | est under 2 | |
| Joint 6 L-piece Nut | 4 | Fastener Piece (stainless steel 18-8, 1/2”-13 diameter and threads per inch, hex nut) | est under 2 | |
| Joint 6 Hydraulic Motor Bolt | 4? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt) | guess under 6 | |
| Joint 6 Hydraulic Motor Washer | 4? | Fastener Piece (stainless steel 18-8, x inner diameter washer) | guess under 2 | |
| Joint 6 Hydraulic Motor Nut | 4? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut) | guess under 2 | |
| Joint 6 Gearbox | 1 | Enables rotation of end effector relative to wrist and control through shaft | guess under 100 | |
| Joint 6 Gearbox Bolt | 10? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, z length, hex bolt) | guess under 15 | |
| Joint 6 Gearbox Washer | 10? | Fastener Piece (stainless steel 18-8, x inner diameter washer) | guess under 2 | |
| Joint 6 Gearbox nut | 10? | Fastener Piece (stainless steel 18-8, x-y diameter and threads per inch, hex nut) | guess under 2 | |
| Powercube | 1? | As prime mover-connected pump and reservoir for hydraulic system | P | |
| Pump to Tank Tubing | 1 | Hydraulic connector (x max pressure, y length, z dia) | guess under 20 | |
| Primary 4-way Pipe | 1 | For tubing connection to: Pump, Secondary 4-way Pipe, Tertiary 4-way Pipe, Pressure Relief Valve | guess under 20 | |
| Pump to Primary 4-way Pipe Tubing | 1 | Hydraulic connector (x max pressure, y length, z dia) | guess under 20 | |
| Pressure Relief Valve | 1 | For maintaining continuity of flow when flow to all hydraulic motors is cut | est under 70 | surpluscentre |
| Primary 4-way Pipe to Pressure Relief Valve Tubing | 1 | Hydraulic connector (x max pressure, y length, z dia) | guess under 20 | |
| Pressure Relief Valve to Tank Tubing | 1 | Hydraulic connector (x max pressure, y length, z dia) | guess under 20 | |
| Secondary 4-way Pipe | 1 | For tubing connection to: Primary 4-way Pipe, Joint 1 Needle Valve, Joint 2 Needle Valve, Joint 3 Needle Valve | guess under 20 | |
| Primary 4-way Pipe to Secondary 4-way Pipe Tubing | 1 | Hydraulic connector (x pressure, y length, z dia) | guess under 20 | |
| Tertiary 4-way Pipe | 1 | For tubing connection to: Primary 4-way Pipe, Joint 4 Needle Valve, Joint 5 Needle Valve, Joint 6 Needle Valve | guess under 20 | |
| Primary 4-way Pipe to Tertiary 4-way Pipe Tubing | 1 | Hydraulic connector (x pressure, y length, z dia) | guess under 20 | |
| Joint 1 Needle Valve | 1 | Flow control for joint 1 hydraulic motor | est under 43 | |
| Joint 2 Needle Valve | 1 | Flow control for joint 2 hydraulic motor | est under 43 | |
| Joint 3 Needle Valve | 1 | Flow control for joint 3 hydraulic motor | est under 43 | |
| Secondary 4-way pipe to Joint 1 Needle Valve Tubing | 1 | Hydraulic Connector | guess under 20 | |
| Secondary 4-way pipe to Joint 2 Needle Valve Tubing | 1 | Hydraulic Connector | guess under 20 | |
| Secondary 4-way pipe to Joint 3 Needle Valve Tubing | 1 | Hydraulic Connector | guess under 20 | |
| Joint 4 Needle Valve | 1 | Flow control for joint 4 hydraulic motor | est under 43 | surpluscentre |
| Joint 5 Needle Valve | 1 | Flow control for joint 5 hydraulic motor | est under 43 | surpluscentre |
| Joint 6 Needle Valve | 1 | Flow control for joint 6 hydraulic motor | est under 43 | surpluscentre |
| Tertiary 4-way Pipe to Joint 4 Needle Valve Tubing | 1 | Hydraulic Connector | guess under 20 | |
| Tertiary 4-way Pipe to Joint 5 Needle Valve Tubing | 1 | Hydraulic Connector | guess under 20 | |
| Tertiary 4-way Pipe to Joint 6 Needle Valve Tubing | 1 | Hydraulic Connector | guess under 20 | |
| Joint 1 Solenoid Valve | 1 | 2?-position directional control for joint 1 hydraulic motor | est under 50 | |
| Joint 2 Solenoid Valve | 1 | 2?-position directional control for joint 2 hydraulic motor | est under 50 | |
| Joint 3 Solenoid Valve | 1 | 2?-position directional control for joint 3 hydraulic motor | est under 50 | |
| Joint 4 Solenoid Valve | 1 | 2?-position directional control for joint 4 hydraulic motor | est under 50 | |
| Joint 5 Solenoid Valve | 1 | 2?-position directional control for joint 5 hydraulic motor | est under 50 | |
| Joint 6 Solenoid Valve | 1 | 2?-position directional control for joint 6 hydraulic motor | est under 50 | |
| Joint 1 Needle Valve to Solenoid Valve Tubing | 1 | Hydraulic connector | guess under 20 | |
| Joint 2 Needle Valve to Solenoid Valve Tubing | 1 | Hydraulic connector | guess under 20 | |
| Joint 3 Needle Valve to Solenoid Valve Tubing | 1 | Hydraulic connector | guess under 20 | |
| Joint 4 Needle Valve to Solenoid Valve Tubing | 1 | Hydraulic connector | guess under 20 | |
| Joint 5 Needle Valve to Solenoid Valve Tubing | 1 | Hydraulic connector | guess under 20 | |
| Joint 6 Needle Valve to Solenoid Valve Tubing | 1 | Hydraulic connector | guess under 20 | |
| Joint 1 Solenoid Valve to Tank Tubing | 1 | Hydraulic Connector | guess under 20 | |
| Joint 2 Solenoid Valve to Tank Tubing | 1 | Hydraulic Connector | guess under 20 | |
| Joint 3 Solenoid Valve to Tank Tubing | 1 | Hydraulic Connector | guess under 20 | |
| Joint 4 Solenoid Valve to Tank Tubing | 1 | Hydraulic Connector | guess under 20 | |
| Joint 5 Solenoid Valve to Tank Tubing | 1 | Hydraulic Connector | guess under 20 | |
| Joint 6 Solenoid Valve to Tank Tubing | 1 | Hydraulic Connector | guess under 20 | |
| Joint 1 Solenoid Valve to Hydraulic Motor Tubing | 2 | Hydraulic Connector | guess under 20 | |
| Joint 2 Solenoid Valve to Hydraulic Motor Tubing | 2 | Hydraulic Connector | guess under 20 | |
| Joint 3 Solenoid Valve to Hydraulic Motor Tubing | 2 | Hydraulic Connector | guess under 20 | |
| Joint 4 Solenoid Valve to Hydraulic Motor Tubing | 2 | Hydraulic Connector | guess under 20 | |
| Joint 5 Solenoid Valve to Hydraulic Motor Tubing | 2 | Hydraulic Connector | guess under 20 | |
| Joint 6 Solenoid Valve to Hydraulic Motor Tubing | 2 | Hydraulic Connector | guess under 20 | |
| DC Power Supply | 1 | To power various electronic components | guess under 100 | |
| Power Supply to Microcontroller Wires | Electric Connector | guess under 10 | ||
| Power Supply to Stepper Motor Driver Wires | Electric Connector for 6 channels | guess under 10 | ||
| Power Supply to Solenoid Driver Wires | Electric Connector for 6 channels | guess under 10 | ||
| Microcontroller | 1 | To receive computer signals and shaft encoder signals; to command stepper motor drivers and solenoid drivers | est under 60 | |
| Stepper Motor Driver | (6 channels total) | To receive microcontroller signals and give electric current to stepper motors for joint 1-6 needle valves | guess under 100 | |
| Microcontroller to Stepper Motor Driver Wires | Electric Connector for 6 channels | guess under 10 | ||
| Stepper Motor | 6 | To allow electric operation of joint 1-6 needle valves | est under 160 | |
| Stepper Motor Driver to Stepper Motor Wires | Electric Connector for 6 Motors | guess under 10 | ||
| Stepper Motor Bracket and Fasteners | 6 | To rigidly connect joint 1-6 stepper motors and needle valves as 6 pairs | guess under 100 | |
| Solenoid Driver | (6 channels) | To receive microcontroller signals and give electric current to joint 1-6 solenoid valves | est under 78 | |
| Shaft Encoder | 6 | To measure speed of joint 1-6 shaft rotation | guess under 600 | |
| Microcontroller to Shaft Encoder Wires | Electric Connector for 6 Shaft Encoders | guess under 20 | ||
| Grand Total | Sum of guesses and informed estimates | 5578 + P |