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

Gearbox 1,2 Side Plate

Gearbox 1,2 Cover Plate

Gearbox 1,2 Outer Race Plate

Gearbox 1,2 Output Shaft

Gearbox 1,2 Inner Race

Gearbox 1,2 Output Hub

Gearbox 1,2 Support Hub

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 60

[2] Solenoid valve 100

[2] Solenoid valve subplate 100

[4] Solenoid valve subplate 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