Industrial Robot Bill of Materials: Difference between revisions

From Open Source Ecology
Jump to navigation Jump to search
(Edited costs, put variable on powercube and hence new grand total)
(Edited BOM)
Line 11: Line 11:
! COST  
! COST  
! SUGGESTED SOURCE
! SUGGESTED SOURCE
|-align="left"
! Joint 1 Hydraulic Motor
! 1
! Rotates base of industrial robot
!est under 150
! surpluscenter
|-align="left"
! Joint 2 Hydraulic Motor
! 1
! Tilts main arm of industrial robot from base
! es under 150
! surpluscenter
|-align="left"
! Joint 3 Hydraulic Motor
! 1
! Tilts forearm of industrial robot from main arm
! est under 150
! surpluscenter
|-align="left"
! Joint 4 Hydraulic Motor
! 1
! Rotates wrist of industrial robot from forearm
! est under 150
! surpluscenter
|-align="left"
! Joint 5 Hydraulic Motor
! 1
! Tilts wrist of industrial robot
! est under 150
! surpluscenter
|-align="left"
! Joint 6 Hydraulic Motor
! 1
! Rotates end-effector of industrial robot
! est under 150
! surpluscenter


|-align="left"
|-align="left"
Line 97: Line 55:


|-align="left"
|-align="left"
! Foundation Pillar Angle
! Foundation Angle
! 4
! 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)
! Connector piece between foundation pillars and foundation overplate (4” width A by 2” width B by 2” length,  A36 steel angle, 0.25” thickness)
! est under 6
! est under 6
!  
!  


|-align="left"
|-align="left"
! Foundation Pillar Bolt
! Foundation Angle Bolt
! 16
! 12
! Fastener piece between foundation pillars and foundation overplate (stainless steel 18-8, 1/4”-20 diameter and threads per inch, 3” length, hex bolt)
! Fastener piece between foundation pillars and foundation overplate (stainless steel 18-8, 1/2”-13 diameter and threads per inch, 3” length, hex bolt)
! est under 7
! est under 5
!  
!  


|-align="left"
|-align="left"
! Foundation Pillar Washer
! Foundation Angle Washer
! 16
! 12
! Fastener piece between foundation pillars and foundation overplate (stainless steel 18-8, 1/4” inner diameter washer)
! Fastener piece between foundation pillars and foundation overplate (stainless steel 18-8, 1/2” inner diameter washer)
! est under 1
! est under 1
!  
!  


|-align="left"
|-align="left"
! Foundation Pillar Nut
! Foundation Angle Nut
! 16
! 12
! Fastener piece between foundation pillars and foundation overplate (stainless steel 18-8, 1/4”-20 diameter and threads per inch, hex nut)
! Fastener piece between foundation pillars and foundation overplate (stainless steel 18-8, 1/2”-13 diameter and threads per inch, hex nut)
! est under 2
! est under 2
!  
!  
Line 132: Line 90:


|-align="left"
|-align="left"
! Base Angle
! Joint 1 Gearbox  
! 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
!
 
|-align="left"
! Joint 1 Gearbox
! 1
! 1
! Enables rotation of baseplate relative to foundation overplate and insertion of motor shaft for rotation control
! Enables rotation of baseplate relative to foundation overplate and insertion of motor shaft for rotation control
Line 165: Line 116:
! guess under 4
! guess under 4
!  
!  
|-align="left"
! Joint 1 Hydraulic Motor
! 1
! Rotates base of industrial robot
!est under 150
! surpluscenter


|-align="left"
|-align="left"
Line 186: Line 144:
! guess under 1
! guess under 1
!  
!  
|-align="left"
! 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
!
|-align="left"
! Joint 2 Hydraulic Motor
! 1
! Tilts main arm of industrial robot from base
! es under 150
! surpluscenter


|-align="left"
|-align="left"
Line 270: Line 242:
! guess under 4
! guess under 4
!  
!  
|-align="left"
! Joint 3 Hydraulic Motor
! 1
! Tilts forearm of industrial robot from main arm
! est under 150
! surpluscenter


|-align="left"
|-align="left"
Line 293: Line 272:


|-align="left"
|-align="left"
! Forearm
! Joint 4 Hydraulic Motor
! 1
! 1
! Frame piece connecting elbow to wrist (18” by 6” by 2” A36 steel bar)
! Rotates wrist of industrial robot from forearm
! est under 150
! est under 150
!  
! surpluscenter
 
|-align="left"
! 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
!
 
|-align="left"
! 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
!
 
|-align="left"
! Forearm L-piece Washer
! 4
! Fastener Piece (stainless steel 18-8, 1/2” inner diameter washer)
! est under 1
!
 
|-align="left"
! Forearm L-piece Nut
! 4
! Fastener Piece (stainless steel 18-8, 1/2”-13 diameter and threads per inch, hex nut)
! est under 2
!


|-align="left"
|-align="left"
Line 377: Line 328:


|-align="left"
|-align="left"
! Wrist L-piece
! Forearm Angle
! 1
! 1
! For mounting of joint 5 hydraulic motor (8” width A by 8” width B by 8” length steel L-piece, 1” thickness)
! 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
! est under 90
!  
!  
|-align="left"
! Forearm Angle Bolt
! 4
! Fastener Piece (stainless steel 18-8, 1/2”-13 diameter and threads per inch, z length, hex bolt)
! est under 6
!
|-align="left"
! Forearm Angle Washer
! 4
! Fastener Piece (stainless steel 18-8, 1/2” inner diameter washer)
! est under 1
!
|-align="left"
! Forearm Angle Nut
! 4
! Fastener Piece (stainless steel 18-8, 1/2”-13 diameter and threads per inch, hex nut)
! est under 2
!
|-align="left"
! Forearm Hub 1
! 1
! Square plate at one end of forearm (8” by 8” by 0.5” A36 steel plate)
! guess under 50
!
|-align="left"
! Forearm
! 1
! Tube connecting elbow to wrist (18” length by 6” diameter by 0.5” thickness A36 steel tube)
! guess under 150
!
|-align="left"
! Forearm Hub 2
! 1
! Square plate at one end of forearm (8” by 8” by 0.5” A36 steel plate)
! guess under 50
!
|-align="left"
! Wrist Angle
! 1
! For mounting of joint 5 hydraulic motor (8” width A by 8” width B by 8” length steel angle, 1” thickness)
! est under 90
!
|-align="left"
! Wrist Angle Bolt
! 4
! Fastener Piece (1/2”-13, 3”, 18-8 Stainless Steel hex bolt)
! est under 5
!
|-align="left"
! Wrist Angle Nut
! 4
! Fastener Piece (1/2”-13, 18-8 Stainless Steel hex nut)
! est under 1
!
|-align="left"
! Wrist Angle Washer
! 4
! Fastener Piece (1/2”, 18-8 Stainless Steel washer)
! est under 1
!
|-align="left"
! Joint 5 Hydraulic Motor
! 1
! Tilts wrist of industrial robot
! est under 150
! surpluscenter


|-align="left"
|-align="left"
Line 433: Line 461:


|-align="left"
|-align="left"
! Wrist Plate
! Joint 6 Angle
! 1
! Frame piece connecting Joint 5 L-piece to Joint 6 L-piece (18” by 6” by 2” A36 steel bar)
! est under 150
!
 
|-align="left"
! Joint 6 L-piece
! 1
! 1
! For mounting of joint 6 hydraulic motor (8” by 8” by 8” L-piece, 1” thickness)
! For mounting of joint 6 hydraulic motor (8”A by 8”B by 8”Length L-piece, 0.5” thickness)
! est under 90
! est under 90
!  
!  


|-align="left"
|-align="left"
! Joint 6 L-piece Bolt
! Joint 6 Angle Bolt
! 4
! 4
! Fastener Piece (stainless steel 18-8, 1/2”-13” diameter and threads per inch, z length, hex bolt)
! Fastener Piece (stainless steel 18-8, 1/2”-13” diameter and threads per inch, z length, hex bolt)
Line 454: Line 475:


|-align="left"
|-align="left"
! Joint 6 L-piece Washer
! Joint 6 Angle Washer
! 4
! 4
! Fastener Piece (stainless steel 18-8, 1/2” inner diameter washer)  
! Fastener Piece (stainless steel 18-8, 1/2” inner diameter washer)  
Line 461: Line 482:


|-align="left"
|-align="left"
! Joint 6 L-piece Nut
! Joint 6 Angle Nut
! 4
! 4
! Fastener Piece (stainless steel 18-8, 1/2”-13 diameter and threads per inch, hex nut)
! Fastener Piece (stainless steel 18-8, 1/2”-13 diameter and threads per inch, hex nut)
! est under 2
! est under 2
!  
!  
|-align="left"
! Joint 6 Hydraulic Motor
! 1
! Rotates end-effector of industrial robot
! est under 150
! surpluscenter


|-align="left"
|-align="left"
Line 521: Line 549:
! As prime mover-connected pump and reservoir for hydraulic system
! As prime mover-connected pump and reservoir for hydraulic system
! P
! P
!
|-align="left"
! Pump to Tank Tubing
! 1
! Hydraulic connector (x max pressure, y length, z dia)
! guess under 20
!  
!  


Line 538: Line 559:


|-align="left"
|-align="left"
! Pump to Primary 4-way Pipe Tubing
! Pump to Primary 4-way Pipe Hose     
! 1
! 1
! Hydraulic connector (x max pressure, y length, z dia)
! Hydraulic connector (x max pressure, y length, z dia)
Line 548: Line 569:
! 1
! 1
! For maintaining continuity of flow when flow to all hydraulic motors is cut
! For maintaining continuity of flow when flow to all hydraulic motors is cut
! est under 70
! est under 50
! surpluscentre
! surpluscentre


|-align="left"
|-align="left"
! Primary 4-way Pipe to Pressure Relief Valve Tubing
! Primary 4-way Pipe to Pressure Relief Valve Hose     
! 1
! 1
! Hydraulic connector (x max pressure, y length, z dia)
! Hydraulic connector (x max pressure, y length, z dia)
Line 559: Line 580:


|-align="left"
|-align="left"
! Pressure Relief Valve to Tank Tubing
! Pressure Relief Valve to Tank Hose     
! 1
! 1
! Hydraulic connector (x max pressure, y length, z dia)
! Hydraulic connector (x max pressure, y length, z dia)
Line 573: Line 594:


|-align="left"
|-align="left"
! Primary 4-way Pipe to Secondary 4-way Pipe Tubing
! Primary 4-way Pipe to Secondary 4-way Pipe Hose     
! 1
! 1
! Hydraulic connector (x pressure, y length, z dia)
! Hydraulic connector (x pressure, y length, z dia)
Line 587: Line 608:


|-align="left"
|-align="left"
! Primary 4-way Pipe to Tertiary 4-way Pipe Tubing
! Primary 4-way Pipe to Tertiary 4-way Pipe Hose     
! 1
! 1
! Hydraulic connector (x pressure, y length, z dia)
! Hydraulic connector (x pressure, y length, z dia)
Line 615: Line 636:


|-align="left"
|-align="left"
! Secondary 4-way pipe to Joint 1 Needle Valve Tubing
! Secondary 4-way pipe to Joint 1 Needle Valve Hose     
! 1
! 1
! Hydraulic Connector
! Hydraulic Connector
Line 622: Line 643:


|-align="left"
|-align="left"
! Secondary 4-way pipe to Joint 2 Needle Valve Tubing
! Secondary 4-way pipe to Joint 2 Needle Valve Hose     
! 1
! 1
! Hydraulic Connector
! Hydraulic Connector
Line 629: Line 650:


|-align="left"
|-align="left"
! Secondary 4-way pipe to Joint 3 Needle Valve Tubing
! Secondary 4-way pipe to Joint 3 Needle Valve Hose     
! 1
! 1
! Hydraulic Connector
! Hydraulic Connector
Line 657: Line 678:


|-align="left"
|-align="left"
! Tertiary 4-way Pipe to Joint 4 Needle Valve Tubing
! Tertiary 4-way Pipe to Joint 4 Needle Valve Hose     
! 1
! 1
! Hydraulic Connector
! Hydraulic Connector
Line 664: Line 685:


|-align="left"
|-align="left"
! Tertiary 4-way Pipe to Joint 5 Needle Valve Tubing
! Tertiary 4-way Pipe to Joint 5 Needle Valve Hose     
! 1
! 1
! Hydraulic Connector
! Hydraulic Connector
Line 671: Line 692:


|-align="left"
|-align="left"
! Tertiary 4-way Pipe to Joint 6 Needle Valve Tubing
! Tertiary 4-way Pipe to Joint 6 Needle Valve Hose     
! 1
! 1
! Hydraulic Connector
! Hydraulic Connector
Line 720: Line 741:


|-align="left"
|-align="left"
! Joint 1 Needle Valve to Solenoid Valve Tubing
! Joint 1 Needle Valve to Solenoid Valve Hose     
! 1
! 1
! Hydraulic connector
! Hydraulic connector
Line 727: Line 748:


|-align="left"
|-align="left"
! Joint 2 Needle Valve to Solenoid Valve Tubing
! Joint 2 Needle Valve to Solenoid Valve Hose     
! 1
! 1
! Hydraulic connector
! Hydraulic connector
Line 734: Line 755:


|-align="left"
|-align="left"
! Joint 3 Needle Valve to Solenoid Valve Tubing
! Joint 3 Needle Valve to Solenoid Valve Hose
! 1
! 1
! Hydraulic connector
! Hydraulic connector
Line 741: Line 762:


|-align="left"
|-align="left"
! Joint 4 Needle Valve to Solenoid Valve Tubing
! Joint 4 Needle Valve to Solenoid Valve Hose
! 1
! 1
! Hydraulic connector
! Hydraulic connector
Line 748: Line 769:


|-align="left"
|-align="left"
! Joint 5 Needle Valve to Solenoid Valve Tubing
! Joint 5 Needle Valve to Solenoid Valve Hose
! 1
! 1
! Hydraulic connector
! Hydraulic connector
Line 755: Line 776:


|-align="left"
|-align="left"
! Joint 6 Needle Valve to Solenoid Valve Tubing
! Joint 6 Needle Valve to Solenoid Valve Hose
! 1
! 1
! Hydraulic connector
! Hydraulic connector
Line 762: Line 783:


|-align="left"
|-align="left"
! Joint 1 Solenoid Valve to Tank Tubing
! Joint 1 Solenoid Valve to Tank Hose
! 1
! 1
! Hydraulic Connector
! Hydraulic Connector
Line 769: Line 790:


|-align="left"
|-align="left"
! Joint 2 Solenoid Valve to Tank Tubing
! Joint 2 Solenoid Valve to Tank Hose
! 1
! 1
! Hydraulic Connector
! Hydraulic Connector
Line 776: Line 797:


|-align="left"
|-align="left"
! Joint 3 Solenoid Valve to Tank Tubing
! Joint 3 Solenoid Valve to Tank Hose
! 1
! 1
! Hydraulic Connector
! Hydraulic Connector
Line 783: Line 804:


|-align="left"
|-align="left"
! Joint 4 Solenoid Valve to Tank Tubing
! Joint 4 Solenoid Valve to Tank Hose
! 1
! 1
! Hydraulic Connector
! Hydraulic Connector
Line 790: Line 811:


|-align="left"
|-align="left"
! Joint 5 Solenoid Valve to Tank Tubing
! Joint 5 Solenoid Valve to Tank Hose
! 1
! 1
! Hydraulic Connector
! Hydraulic Connector
Line 797: Line 818:


|-align="left"
|-align="left"
! Joint 6 Solenoid Valve to Tank Tubing
! Joint 6 Solenoid Valve to Tank Hose
! 1
! 1
! Hydraulic Connector
! Hydraulic Connector
Line 804: Line 825:


|-align="left"
|-align="left"
! Joint 1 Solenoid Valve to Hydraulic Motor Tubing
! Joint 1 Solenoid Valve to Hydraulic Motor Hose
! 2
! 2
! Hydraulic Connector
! Hydraulic Connector
Line 811: Line 832:


|-align="left"
|-align="left"
! Joint 2 Solenoid Valve to Hydraulic Motor Tubing
! Joint 2 Solenoid Valve to Hydraulic Motor Hose
! 2
! 2
! Hydraulic Connector
! Hydraulic Connector
Line 818: Line 839:


|-align="left"
|-align="left"
! Joint 3 Solenoid Valve to Hydraulic Motor Tubing
! Joint 3 Solenoid Valve to Hydraulic Motor Hose
! 2
! 2
! Hydraulic Connector
! Hydraulic Connector
Line 825: Line 846:


|-align="left"
|-align="left"
! Joint 4 Solenoid Valve to Hydraulic Motor Tubing
! Joint 4 Solenoid Valve to Hydraulic Motor Hose
! 2
! 2
! Hydraulic Connector
! Hydraulic Connector
Line 832: Line 853:


|-align="left"
|-align="left"
! Joint 5 Solenoid Valve to Hydraulic Motor Tubing
! Joint 5 Solenoid Valve to Hydraulic Motor Hose
! 2
! 2
! Hydraulic Connector
! Hydraulic Connector
Line 876: Line 897:
! Microcontroller
! Microcontroller
! 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 (ex. arduino mega 2560)
! est under 60
! est under 60
!  
!  
Line 884: Line 905:
! (6 channels total)
! (6 channels total)
! To receive microcontroller signals and give electric current to stepper motors for joint 1-6 needle valves
! To receive microcontroller signals and give electric current to stepper motors for joint 1-6 needle valves
! guess under 100
! est under 60
!  
!  


Line 899: Line 920:
! To allow electric operation of joint 1-6 needle valves
! To allow electric operation of joint 1-6 needle valves
! est under 160
! est under 160
!  
! ex. Pololu


|-align="left"
|-align="left"
Line 909: Line 930:


|-align="left"
|-align="left"
! Stepper Motor Bracket and Fasteners
! Stepper Motor Angle
! 6
! 6
! To rigidly connect joint 1-6 stepper motors and needle valves as 6 pairs
! Main Bracket Component for Stepper Motor and Needle Valve (
! guess under 100
! est under 40
!
 
|-align="left"
! Stepper Motor Hub
! 6
! To connect onto stepper motors as component for bracket
! guess under 20
!
 
|-align="left"
! Needle Valve Hub
! 6
! To connect onto needle valve handle as component for bracket
! guess under 20
!
 
|-align="left"
! Needle Valve Plate
! 12
! Bracket Component to hold needle valve
! guess under 20
!
 
|-align="left"
! Needle Valve Bolt
! 18
! Fastener Piece
! guess under 20
!  
!  


Line 918: Line 967:
! Solenoid Driver
! Solenoid Driver
! (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 (PWM Driver 1.1 from reprapwiki)
! est under 78
! est under 26
!  
!  


Line 926: Line 975:
! 6
! 6
! To measure speed of joint 1-6 shaft rotation
! To measure speed of joint 1-6 shaft rotation
! guess under 600
! guess under 300
!  
!  


Line 939: Line 988:
! Grand Total
! Grand Total
!  
!  
! Sum of guesses and informed estimates
! Sum of guesses, informed estimates
! 5578 + P
! 5113 + P
!  
!  


Revision as of 01:37, 6 June 2011


Industrial Robot
   Home  |  Research & Development  |  Bill of Materials  |  Manufacturing Instructions  |  User's Manual  |  User Reviews    Industrial Robot.png


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
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 Angle 4 Connector piece between foundation pillars and foundation overplate (4” width A by 2” width B by 2” length, A36 steel angle, 0.25” thickness) est under 6
Foundation Angle Bolt 12 Fastener piece between foundation pillars and foundation overplate (stainless steel 18-8, 1/2”-13 diameter and threads per inch, 3” length, hex bolt) est under 5
Foundation Angle Washer 12 Fastener piece between foundation pillars and foundation overplate (stainless steel 18-8, 1/2” inner diameter washer) est under 1
Foundation Angle Nut 12 Fastener piece between foundation pillars and foundation overplate (stainless steel 18-8, 1/2”-13 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
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 Hydraulic Motor 1 Rotates base of industrial robot est under 150 surpluscenter
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
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 2 Hydraulic Motor 1 Tilts main arm of industrial robot from base es under 150 surpluscenter
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 1 Tilts forearm of industrial robot from main arm est under 150 surpluscenter
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
Joint 4 Hydraulic Motor 1 Rotates wrist of industrial robot from forearm est under 150 surpluscenter
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
Forearm Angle 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 Angle Bolt 4 Fastener Piece (stainless steel 18-8, 1/2”-13 diameter and threads per inch, z length, hex bolt) est under 6
Forearm Angle Washer 4 Fastener Piece (stainless steel 18-8, 1/2” inner diameter washer) est under 1
Forearm Angle Nut 4 Fastener Piece (stainless steel 18-8, 1/2”-13 diameter and threads per inch, hex nut) est under 2
Forearm Hub 1 1 Square plate at one end of forearm (8” by 8” by 0.5” A36 steel plate) guess under 50
Forearm 1 Tube connecting elbow to wrist (18” length by 6” diameter by 0.5” thickness A36 steel tube) guess under 150
Forearm Hub 2 1 Square plate at one end of forearm (8” by 8” by 0.5” A36 steel plate) guess under 50
Wrist Angle 1 For mounting of joint 5 hydraulic motor (8” width A by 8” width B by 8” length steel angle, 1” thickness) est under 90
Wrist Angle Bolt 4 Fastener Piece (1/2”-13, 3”, 18-8 Stainless Steel hex bolt) est under 5
Wrist Angle Nut 4 Fastener Piece (1/2”-13, 18-8 Stainless Steel hex nut) est under 1
Wrist Angle Washer 4 Fastener Piece (1/2”, 18-8 Stainless Steel washer) est under 1
Joint 5 Hydraulic Motor 1 Tilts wrist of industrial robot est under 150 surpluscenter
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
Joint 6 Angle 1 For mounting of joint 6 hydraulic motor (8”A by 8”B by 8”Length L-piece, 0.5” thickness) est under 90
Joint 6 Angle 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 Angle Washer 4 Fastener Piece (stainless steel 18-8, 1/2” inner diameter washer) est under 2
Joint 6 Angle 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 1 Rotates end-effector of industrial robot est under 150 surpluscenter
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
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 Hose 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 50 surpluscentre
Primary 4-way Pipe to Pressure Relief Valve Hose 1 Hydraulic connector (x max pressure, y length, z dia) guess under 20
Pressure Relief Valve to Tank Hose 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 Hose 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 Hose 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 Hose 1 Hydraulic Connector guess under 20
Secondary 4-way pipe to Joint 2 Needle Valve Hose 1 Hydraulic Connector guess under 20
Secondary 4-way pipe to Joint 3 Needle Valve Hose 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 Hose 1 Hydraulic Connector guess under 20
Tertiary 4-way Pipe to Joint 5 Needle Valve Hose 1 Hydraulic Connector guess under 20
Tertiary 4-way Pipe to Joint 6 Needle Valve Hose 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 Hose 1 Hydraulic connector guess under 20
Joint 2 Needle Valve to Solenoid Valve Hose 1 Hydraulic connector guess under 20
Joint 3 Needle Valve to Solenoid Valve Hose 1 Hydraulic connector guess under 20
Joint 4 Needle Valve to Solenoid Valve Hose 1 Hydraulic connector guess under 20
Joint 5 Needle Valve to Solenoid Valve Hose 1 Hydraulic connector guess under 20
Joint 6 Needle Valve to Solenoid Valve Hose 1 Hydraulic connector guess under 20
Joint 1 Solenoid Valve to Tank Hose 1 Hydraulic Connector guess under 20
Joint 2 Solenoid Valve to Tank Hose 1 Hydraulic Connector guess under 20
Joint 3 Solenoid Valve to Tank Hose 1 Hydraulic Connector guess under 20
Joint 4 Solenoid Valve to Tank Hose 1 Hydraulic Connector guess under 20
Joint 5 Solenoid Valve to Tank Hose 1 Hydraulic Connector guess under 20
Joint 6 Solenoid Valve to Tank Hose 1 Hydraulic Connector guess under 20
Joint 1 Solenoid Valve to Hydraulic Motor Hose 2 Hydraulic Connector guess under 20
Joint 2 Solenoid Valve to Hydraulic Motor Hose 2 Hydraulic Connector guess under 20
Joint 3 Solenoid Valve to Hydraulic Motor Hose 2 Hydraulic Connector guess under 20
Joint 4 Solenoid Valve to Hydraulic Motor Hose 2 Hydraulic Connector guess under 20
Joint 5 Solenoid Valve to Hydraulic Motor Hose 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 (ex. arduino mega 2560) 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 est under 60
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 ex. Pololu
Stepper Motor Driver to Stepper Motor Wires Electric Connector for 6 Motors guess under 10
Stepper Motor Angle 6 Main Bracket Component for Stepper Motor and Needle Valve ( est under 40
Stepper Motor Hub 6 To connect onto stepper motors as component for bracket guess under 20
Needle Valve Hub 6 To connect onto needle valve handle as component for bracket guess under 20
Needle Valve Plate 12 Bracket Component to hold needle valve guess under 20
Needle Valve Bolt 18 Fastener Piece guess under 20
Solenoid Driver (6 channels) To receive microcontroller signals and give electric current to joint 1-6 solenoid valves (PWM Driver 1.1 from reprapwiki) est under 26
Shaft Encoder 6 To measure speed of joint 1-6 shaft rotation guess under 300
Microcontroller to Shaft Encoder Wires Electric Connector for 6 Shaft Encoders guess under 20
Grand Total Sum of guesses, informed estimates 5113 + P
Retrieved from "https://wiki.opensourceecology.org/index.php?title=Industrial_Robot_Bill_of_Materials&oldid=30432"