6-DOF ROBOTIC ARM / TECHNICAL DOCUMENTATION
Full Bill of Materials.
Component-level bill of materials for the final 6-DOF robotic-arm prototype, including custom manufactured components, actuation hardware, bearings, fasteners, electronics, power distribution and wiring.
80
LINE ITEMS
6 DOF
FINAL ARCHITECTURE
FDM + OFF-THE-SHELF
MANUFACTURING APPROACH
MECHANICAL + ELECTRICAL
SYSTEM SCOPE
FULL COMPONENT-LEVEL BOM
ITEM
SUBSYSTEM
COMPONENT / PART
SPECIFICATION / DESCRIPTION
MATERIAL / PROCESS
QTY.
USED IN
J1–J3 PRIMARY DRIVES
1
J1–J3 Primary Drives
Joint 1 Gearbox Housing
Custom base gearbox housing
PLA — FDM printed
1
J1
2
J1–J3 Primary Drives
Joint 2 Gearbox Housing
Custom shoulder gearbox housing
PLA — FDM printed
1
J2
3
J1–J3 Primary Drives
Joint 3 Gearbox Housing
Custom elbow gearbox housing
PLA — FDM printed
1
J3
4
J1–J3 Primary Drives
SIMAX3D NEMA 17 Stepper Motor
42×40 mm; 1.5 A; 2-phase; 4-wire; 1.8°/step
Purchased
3
J1–J3
5
J1–J3 Primary Drives
Eccentric Cam
Common cycloidal eccentric component
PLA — FDM printed
3
J1–J3
6
J1–J3 Primary Drives
Motor Shaft Coupler
Custom motor-to-eccentric coupling
PLA — FDM printed
3
J1–J3
7
J1–J3 Primary Drives
Eccentric Shaft Retainer
Custom retaining component
PLA — FDM printed
3
J1–J3
8
J1–J3 Primary Drives
Cycloidal Disc
Custom cycloidal profile
PLA — FDM printed
6
J1–J3
9
J1–J3 Primary Drives
Inner Output Flange
Custom output component
PLA — FDM printed
3
J1–J3
10
J1–J3 Primary Drives
Outer Output Flange
Custom output component
PLA — FDM printed
3
J1–J3
11
J1–J3 Primary Drives
Joint 1 Output Bearing Housing
Custom bearing support
PLA — FDM printed
1
J1
12
J1–J3 Primary Drives
Joint 2 Output Bearing Housing
Custom bearing support
PLA — FDM printed
1
J2
13
J1–J3 Primary Drives
Joint 3 Output Bearing Housing
Custom bearing support
PLA — FDM printed
1
J3
14
J1–J3 Primary Drives
Joint 1 Output Flange
Custom joint output
PLA — FDM printed
1
J1
15
J1–J3 Primary Drives
Joint 2 Output Flange
Custom joint output
PLA — FDM printed
1
J2
16
J1–J3 Primary Drives
Shoulder End Cap — Closed
Custom end cap
PLA — FDM printed
1
J2
17
J1–J3 Primary Drives
Shoulder End Cap — Cable Pass-Through
Custom cable-routing end cap
PLA — FDM printed
1
J2
18
J1–J3 Primary Drives
Elbow End Cap — Closed
Custom end cap
PLA — FDM printed
1
J3
19
J1–J3 Primary Drives
Elbow End Cap — Cable Pass-Through
Custom cable-routing end cap
PLA — FDM printed
1
J3
CYCLOIDAL BEARINGS & OUTPUT
20
Cycloidal Bearings & Output
MR6701-2RS Deep-Groove Ball Bearing
12×18×4 mm; double rubber sealed
Purchased
6
J1–J3
21
Cycloidal Bearings & Output
MR6704-2RS Deep-Groove Ball Bearing
20×27×4 mm; double rubber sealed
Purchased
9
J1–J3
22
Cycloidal Bearings & Output
6806-2RS Deep-Groove Ball Bearing
30×42×7 mm; double sealed
Purchased
9
J1–J3
23
Cycloidal Bearings & Output
Sleeve Bushing
7 mm ID × 10 mm OD × 8 mm L; self-lubricating
Sintered bronze
34
J1–J3
24
Cycloidal Bearings & Output
Output Pin Bushing Sleeve
4 mm ID × 7 mm OD × 20 mm L
PLA — FDM printed
6
J1
25
Cycloidal Bearings & Output
Output Pin Bushing Sleeve
4 mm ID × 7 mm OD × 23 mm L
PLA — FDM printed
11
J2/J3
26
Cycloidal Bearings & Output
Output Pin Spacer
7 mm ID × 10 mm OD × 1 mm thick
PLA — FDM printed
12
J1/J3
27
Cycloidal Bearings & Output
Output Pin Spacer
7 mm ID × 10 mm OD × 2 mm thick
PLA — FDM printed
5
J2
28
Cycloidal Bearings & Output
Output Pin Spacer
7 mm ID × 10 mm OD × 3.2 mm thick
PLA — FDM printed
5
J2
29
Cycloidal Bearings & Output
Socket Head Cap Screw
M4×30 mm; hex socket; Grade 12.9
Alloy steel, black oxide
17
J1–J3
J1–J3 FASTENERS
30
J1–J3 Fasteners
M4 Heat-Set Threaded Insert
M4 × 6 mm OD × 6 mm L
Brass
45
J1–J3
31
J1–J3 Fasteners
M2 Heat-Set Threaded Insert
M2 × 3 mm OD × 4 mm L
Brass
6
J1–J3
32
J1–J3 Fasteners
Flat Head Socket Cap Screw
M3×6 mm; countersunk; hex socket; Grade 10.9
Steel, black oxide
8
J1/J2
33
J1–J3 Fasteners
Button Head Socket Cap Screw
M4×12 mm; hex socket; Grade 10.9
Alloy steel, black
18
J1–J3
34
J1–J3 Fasteners
Button Head Socket Cap Screw
M4×8 mm; hex socket; Grade 10.9
Alloy steel, black
12
J1–J3
35
J1–J3 Fasteners
Button Head Socket Cap Screw
M2×8 mm; hex socket; Grade 10.9
Alloy steel, black
2
J1
J4–J6 WRIST
36
J4–J6 Wrist
DS3225MG Servo Motor
25 kg·cm servo
Purchased
3
J4–J6
37
J4–J6 Wrist
Internal Spur Gear
Module 1; 72T; 20° pressure angle
PLA — FDM printed
2
Wrist
38
J4–J6 Wrist
Spur Gear
Module 1; 24T; 20° pressure angle
PLA — FDM printed
1
Wrist
39
J4–J6 Wrist
Spur Gear
Module 0.5; 20T; 20° pressure angle
PLA — FDM printed
2
Wrist
40
J4–J6 Wrist
Yaw Servo Output
Custom servo-driven yaw output
PLA — FDM printed
2
Wrist
41
J4–J6 Wrist
Wrist Yaw Housing
Custom yaw-axis housing
PLA — FDM printed
1
Wrist
42
J4–J6 Wrist
Yaw-to-Wrist Interface Adaptor
Connects yaw output to remainder of wrist
PLA — FDM printed
1
Wrist
43
J4–J6 Wrist
Roll Housing
Custom roll-axis housing
PLA — FDM printed
1
Wrist
44
J4–J6 Wrist
Roll End Piece — Left
Custom roll-axis structural component
PLA — FDM printed
1
Wrist
45
J4–J6 Wrist
Roll End Piece — Right
Custom roll-axis structural component
PLA — FDM printed
1
Wrist
46
J4–J6 Wrist
Roll Output Housing
Custom roll-axis output housing
PLA — FDM printed
1
Wrist
47
J4–J6 Wrist
Planetary Output Housing
Custom wrist output housing
PLA — FDM printed
1
Wrist
48
J4–J6 Wrist
Wrist Cover
Custom wrist cover
PLA — FDM printed
1
Wrist
49
J4–J6 Wrist
End Effector
Single-piece prototype end effector
PLA — FDM printed
1
J6
50
J4–J6 Wrist
6810-2RS Deep-Groove Ball Bearing
50 mm ID × 65 mm OD × 7 mm W; double sealed
Chrome steel
2
Wrist
51
J4–J6 Wrist
Roll Bearing Spacer
50 mm ID × 65 mm OD × 1 mm thick
PLA — FDM printed
1
Wrist
52
J4–J6 Wrist
GT2 Timing Pulley
20T; 8 mm bore; 2 mm pitch
Aluminum
1
Wrist
53
J4–J6 Wrist
GT2 Timing Pulley
40T; 12 mm bore; 2 mm pitch
Aluminum
1
Wrist
54
J4–J6 Wrist
GT2 Timing Belt
2 mm pitch × 6 mm width × ~30 mm installed length
Fiberglass-reinforced rubber
1
Wrist
55
J4–J6 Wrist
M3 Heat-Set Threaded Insert
M3 × 4 mm OD × 4 mm L
Brass
37
Wrist
56
J4–J6 Wrist
Flat Head Socket Cap Screw
M3×6 mm; countersunk; hex socket; Grade 10.9
Steel, black oxide
19
Wrist
57
J4–J6 Wrist
Flat Head Socket Cap Screw
M3×8 mm; countersunk; hex socket; Grade 10.9
Steel, black oxide
4
Wrist
58
J4–J6 Wrist
Flat Head Socket Cap Screw
M3×10 mm; countersunk; hex socket; Grade 10.9
Steel, black oxide
11
Wrist
59
J4–J6 Wrist
Flat Head Socket Cap Screw
M3×25 mm; countersunk; hex socket; Grade 10.9
Steel, black oxide
6
Wrist
ADDITIONAL ROBOT HARDWARE
60
Additional Robot Hardware
Button Head Socket Cap Screw
M5×10 mm; hex socket; Grade 10.9
Alloy steel, black
2
Robot
61
Additional Robot Hardware
M5 Heat-Set Threaded Insert
M5 × 7 mm OD × 6 mm L
Brass
2
Robot
ELECTRONICS ENCLOSURE
62
Electronics Enclosure
Electronics Base Plate
Custom electronics mounting/base plate
PLA — FDM printed
1
Enclosure
63
Electronics Enclosure
Electronics Base Plate Cover
Custom enclosure cover
PLA — FDM printed
1
Enclosure
64
Electronics Enclosure
Socket Head Cap Screw
M3×60 mm; hex socket
Steel, black
4
Enclosure
65
Electronics Enclosure
M3 Heat-Set Threaded Insert
M3 × 6 mm L
Brass
4
Enclosure
66
Electronics Enclosure
Button Head Socket Cap Screw
M5×10 mm; hex socket; Grade 10.9
Alloy steel, black
4
Enclosure
67
Electronics Enclosure
M5 Heat-Set Threaded Insert
M5 × 7 mm OD × 6 mm L
Brass
4
Enclosure
CONTROLS & ELECTRONICS
68
Controls & Electronics
MKS TinyBee V1.0 Control Board
DC 12–24 V main controller board
Purchased
1
Controls
69
Controls & Electronics
ZORZA Closed-Loop Stepper Driver
TMC2209; 32-bit ARM; OLED; Servo42C-compatible
Purchased
3
J1–J3 controls
70
Controls & Electronics
DC-DC Buck Converter
MGGi; 12/24 V input → 6 V, 10 A, 60 W output
Purchased
1
Power
71
Controls & Electronics
Jesverty SPS-3010M Bench DC Supply
0–30 V; 0–10 A adjustable regulated supply
Purchased
1
Power
72
Controls & Electronics
4-Way Power Distribution Block
0/2/4 AWG input; 4/8/10 AWG outputs
Purchased
2
Power
73
Controls & Electronics
4-Position Terminal Block
Dual-row screw terminal; 600 V; 15 A
Purchased
2
Power/Wiring
74
Controls & Electronics
Micro Roller-Lever Limit Switch
SPDT; 1NO/1NC; 3-pin; 5 A @ 125/250 VAC
Purchased
3
J1–J3 homing
75
Controls & Electronics
3-Pin Servo Extension Cable
Male-to-female; 600 mm / 24 in
Purchased
3
J4–J6 wiring
76
Controls & Electronics
USB Data Cable
Computer-to-TinyBee communication
Purchased
1
Controls
77
Controls & Electronics
20 AWG Hookup Wire — Red
Stranded tinned copper; silicone insulated
Purchased
As required
Power wiring
78
Controls & Electronics
20 AWG Hookup Wire — Black
Stranded tinned copper; silicone insulated
Purchased
As required
Ground/return wiring
79
Controls & Electronics
Insulated Fork Terminal
Crimp-on wire terminal; sized to conductor
Purchased
As required
Wiring
80
Controls & Electronics
Insulated Wire Ferrule
Crimp ferrule; sized to conductor
Purchased
As required
Wiring
80 component-level line items · Final 6-DOF prototype