Industrial Robot/Bill of Materials

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Partial Prototyping Bill of Materials

Frame

Base Angle (8"A x 8"B x 27" Length x 0.5" Thickness, A36 steel angle, x1) 93

Gearbox

Gearbox 1,2 Input Plate (13" x 7.5" x 0.25", A36 steel plate, x1) 36

Gearbox 1,2 Side Plate (7.5" x 3" x 1", A36 steel plate, x2) 47

Gearbox 1,2 Cover Plate (13" x 5" x 0.125", A36 steel plate, x2)

Gearbox 1,2 Outer Race Plate (6" x 6" x 1", A36 steel plate, x4)

Gearbox 1,2 Spacing Plate (6" x 6" x 2", A36 steel plate, x2)

Gearbox 1,2 Output Shaft (1.25" diameter, keyed shaft

Gearbox 1,2 Inner Race (

Gearbox 1,2 Output Hub (6" diameter x 3" length, A36 round bar)

Gearbox 1,2 Support Hub (5" diameter

Loose Ball Bearing (1/2" diameter, chrome steel G25, x100) 12

Bolts (1/2 – 13,

Nuts (1/2 – 13, x

Hydraulics

Hydraulic motor 1,2 500

Hydraulic motor 1,2 mounting bolts

Needle valve 1,2

Solenoid valve 1,2

Solenoid valve subplate 1,2

Solenoid valve subplate 1,2 mounting bolts

Electronics

• Microcontroller 65

• Solenoid Driver (x1) 13

• Stepper Motor Driver (x2) 30

• Power Supply (as necessary to connect to 6 step motor drivers, 2 solenoid drivers, and 6 encoders)

• Encoder

• Wire

Stepper mount

• Stepper motor 28

• Stepper motor mounting screws

• Stepper mount angle (4”A/4”B, 4”L, 0.25”T, A36 steel angle, x2) 12

• Stepper mount plate

• Shaft coupling bar

Bill of Materials

Hydraulics

• Powercube (1500psi, 18GPM)

• Hydraulic Motor 1 300
• Hydraulic Motor 2 300
• Hydraulic Motor 3 160
• Hydraulic Motor 4 160
• Hydraulic Motor 5 160
• Hydraulic Motor 6 160

• Solenoid Valve (1-6, x6) 300
• Solenoid Valve Subplate (1-6, SAE6, x6) 288

• Needle Valve (1-6, 1/2NPTF, x6) 180

• Pressure Relief Valve 42

• Hose (1NPTM, 3', x3) 87

• Hose (1NPTM, 6', x1) 47

• Hose (1/2NPTM, 3', x18) 180

• Hose (1/2NPTM, 8', x6) 128

• Hose (1/2NPTM, 6', x6) 84

• Hose (1/2NPTM, 4', x4) 44

• Adaptor (1NPTM to 1/2NPTF, x6) [

• Adaptor (1/2NPTM to 1/2NPTM, x6) 12

• Adaptor (1/2NPTF to SAE6M, x28) 84

• Adaptor (1/2NPTF to SAE10M, x4) 12

• Adaptor (SAE4M to SAE6F, x4) [http://www.surpluscenter.com/item.asp?item=9-6410-4-6&catname=hydraulic 14

Electronics

• Microcontroller 65

• Solenoid Driver (x2) 26

• Stepper Motor Driver (x6) 90

• Power Supply (as necessary to connect to 6 step motor drivers, 2 solenoid drivers, and 6 encoders)

• Wire

Frame

• Foundation Underplate (24" by 24" by 0.5" A36 steel plate 90

• Foundation Pillar (2” by 2” by 12”, A36 steel square bar, x4) 62

• Foundation Overplate (16” by 16” by 0.5” A36 steel plate) 51

• Base Angle (8”A/8”B by 20”L by 1”T A36 steel angle) 154

• Main Arm (1” by 4” by 15” A36 steel bar) 23

• Forearm Angle (8”A/8”B by 20”L by 0.5”T A36 steel angle) 83

• Forearm Plate A (8” by 8” by 0.25T A36 steel plate, x1) 50

• Forearm Plate B (8” by 4” by 0.5” A36 steel plate, x1) 24

• Forearm (2” by 2” by 12” by 0.25T carbon steel square tube) 11

• Wrist Angle (8”A/8”B by 20”L by 0.5”T A36 steel angle) 83

Gear Reducer 1,2

• Gearbox 1,2 Input Plate (13" x 7", 0.5" A36 steel plate, x2)
• Gearbox 1,2 Side Plate (7" x 5" x 1" A36 steel plate, x4)
• Gearbox 1,2 Cover Plate (13" x 5" x 0.125" A36 steel plate, x2)
• Gearbox 1,2 Output Shaft (1.25"dia x 4" A36 steel round bar, x2)
• Gearbox 1,2 Input Spur Gear (3" pitch dia, 20deg pressure angle, 18dia pitch)
• Gearbox 1,2 Output Spur Gear (6" pitch dia, 20deg pressure angle, 18 dia pitch)
• Gearbox 1,2 Output Hub (
• Gearbox 1,2 Output Key (
• Gearbox 1,2 Outer Race Plate (
• Gearbox 1,2 Inner Race (
• Gearbox 1,2 O-ring Seal

Gear Reducer 3,4,5,6

• Gearbox 3,4,5,6 Input Plate (12" x 7.5" x 0.25" A36 steel plate, x4)
• Gearbox 3,4,5,6 Side Plate (7.5" x 5" x 1" A36 steel plate, x8)
• Gearbox 3,4,5,6 Cover Plate (12" x 5" x 0.125" A36 steel plate, x4)
• Gearbox 3,4,5,6 Output Shaft (1"dia x 4" A36 steel round bar, x4)
• Gearbox 3,4,5,6 Input Spur Gear (3" pitch dia, 20deg pressure angle, 18 diametral pitch)
• Gearbox 3,4,5,6 Output Spur Gear (6"pitch dia, 20deg pressure angle, 18 diametral pitch)
• Gearbox 3,4,5,6 Output Hub (
• Gearbox 3,4,5,6 Output Key (
• Gearbox 3,4,5,6 Outer Race Plate (
• Gearbox 3,4,5,6 Inner Race (
• Gearbox 3,4,5,6 O-ring Seal

Stepper Motor Mounts

• Stepper Motor (x6) 84

• Stepper Angle (4”A/4”B, 4”L, 0.25”T, A36 steel angle, x6) 24

• Holding Plate (3” by 3” by 0.25” A36 steel plate, x12) 29

• Shaft Bar (0.5” by 0.5” by 1” A36 steel bar, x6) 36

• Setscrews ( )
• Bolts ( )
• Washers ( )
• Nuts ( )

Welding

• Welding Consumables