Bill of Materials

System architecture (control + power)

The user inputs EE position/joint angles, the computer solves kinematics, and sends to Pico which controls motor drivers.

  CONTROL  —  serial + GPIO (low voltage)
  ═══════════════════════════════════════

           joint positions or EE coordinates
                         │
                         ▼
                 ┌─────────────────┐
                 │  User / script  │
                 └────────┬────────┘
                          │ setpoints
                          ▼
                 ┌─────────────────┐
                 │  Host computer  │
                 │  IK → angles    │
                 └────────┬────────┘
                          │ USB / UART
                          ▼
                 ┌─────────────────┐
                 │   Pico 2 W      │
                 │   RP2040        │
                 │ PIO: STEP / DIR │
                 │ GPIO: limits in │
                 └────────┬────────┘
                          │ STEP / DIR ( + enable … )
                          ▼
                 ┌─────────────────┐
                 │  Motor drivers  │
                 └────────┬────────┘
                          │ phases
                          ▼
                 ┌─────────────────┐
                 │ Stepper motors  │
                 └────────┬────────┘
                          │
                          ▼

  MECHANICS  —  transmission + arm
  ════════════════════════════════

                 ┌─────────────────┐
                 │ Joints / links  │
                 │ belts, reducers │
                 └────────┬────────┘
                          ▼
                 ┌─────────────────┐
                 │  End effector   │────► workpiece
                 └─────────────────┘


  POWER  —  24 V (parallel path; motors see DC only after e-stop)
  ═══════════════════════════════════════════════════════════════

      ┌────────┐      ┌──────────┐      ┌──────────────┐      ┌──────────────────┐
      │  Wall  │  AC  │ 24 V PSU │  DC  │ Emergency    │ 24 V │ Drivers + motors │
      │ outlet │─────►│  brick   │─────►│ stop (NC)    │─────►│ (same rail)      │
      └────────┘      └──────────┘      └──────────────┘      └──────────────────┘

Here is the BOM for the robot arm. To get a better look, the link is here