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
| all steppers/gearboxes are from StepperOnline unless otherwise stated | ||||||||
|---|---|---|---|---|---|---|---|---|
| Part: | Description/Application: | Quanity: | Link: | Price Per: | Price: | Total: | ||
| $434.84 | ||||||||
| 400W 36V 11.0A 115/230V Switching Power Supply Stepper Motor CNC Router Kits | Power Supply | 1 | https://www.omc-stepperonline.com/400w-36v-11-0a-115-230v-switching-power-supply-stepper-motor-cnc-router-kits-le-400-36 | $19.86 | $19.86 | https://www.amazon.com/dp/B0DTK47M2V | ||
| Digital Stepper Driver 1.0-4.5A 18-50VDC for Nema 17, 23, 24 Stepper Motor | Motor driver for the base joint | 1 | https://www.omc-stepperonline.com/digital-stepper-driver-1-0-4-2a-20-50vdc-for-nema-17-23-24-stepper-motor-dm542t | $19.65 | $19.65 | |||
| TS Series 1.2Nm(169.93oz.in) 1 Axis Closed Loop Stepper CNC Kit Nema 23 Motor & Driver | Shoulder | 1 | https://www.omc-stepperonline.com/ts-series-1-2-nm-170oz-in-1-axis-closed-loop-stepper-cnc-kit-nema-23-motor-driver-1-cl57t-s12-v41 | $55.82 | $55.82 | https://www.amazon.com/dp/B0C69767HJ | ||
| EG Series Planetary Gearbox Gear Ratio 20:1 Backlash 20arc-min for 8mm Shaft Nema 23 Stepper Motor | shoulder gearbox | 1 | https://www.omc-stepperonline.com/eg-series-planetary-gearbox-gear-ratio-20-1-backlash-20-arc-min-for-8mm-shaft-nema-23-stepper-motor-eg23-g20-d8 | $46.87 | $46.87 | https://www.amazon.com/dp/B097SDTX77 | ||
| Nema 23 open loop stepper 2.4nm torque 8mm output D shaft | Base motor- will be driven via belt. base motor can be overkill, i will just make sure to limit acceleration in software | 1 | https://www.omc-stepperonline.com/nema-23-stepper-motor-2-4nm-339-79oz-in-4a-57x57x82mm-8mm-shaft-4-wires-23hs32-4004s | $18.92 | $18.92 | https://www.amazon.com/dp/B091C37FJ2 | ||
| 1 Axis Closed Loop Stepper CNC Kit 80Ncm(113.29oz.in) Nema 17 Motor & Driver | Elbow Motor | 1 | https://www.omc-stepperonline.com/1-axis-closed-loop-stepper-cnc-kit-80ncm-113-29oz-in-nema-17-motor-driver-1-cl42t-s08-v41 | $49.91 | $49.91 | https://www.amazon.com/dp/B0CWTQP73Z | ||
| EG Series Planetary Gearbox Gear Ratio 20:1 Backlash 20arc-min for Nema 17 Stepper Motor | Elbow Gearbox | 1 | https://www.omc-stepperonline.com/eg-series-planetary-gearbox-gear-ratio-20-1-backlash-20-arc-min-for-nema-17-stepper-motor-eg17-g20 | $36.36 | $36.36 | https://www.amazon.com/dp/B0BPGLVNVR | ||
| Aluminum Alloy Flange Coupling, 14 mm Inner Dia with Locking Key Slot, Flange Shaft Connector for Connecting Motor and Wheel DIY Model RC Parts (1Piece） | Flange Hub for connecting the shoulder motor to the joint/arm | 1 | https://www.amazon.com/MiJunHD-Aluminum-Coupling-Connector-Connecting/dp/B0DNW74W4Z/ref=sr_1_1?crid=1X0RCQOLREK16&dib=eyJ2IjoiMSJ9.pVjBp0nbvd50n8rJXJwFIlEv1XRjkMNsDIFWCpixIX2T_YkbAQAgcarfyj8vJ6NgaCagYE94CiRkqa4v306zHdDvqkahEuK21H0FLYTtnRj8Fftfiw0DU0bYKfA7jPPSQhSRpwJ3Ay9f-9Nl8Ld2da_rtn7tQWpkvfDrb8NB2i_wBFEa_MH-_AB9iHyeStCTdgea9FhiC2hCcrXT5Ecpz7zmypJ_dmx-NNhqk2fV-Bg.KvWPhAZgLKDiyLKotG3JBl4zxhL1mzSPONAwcuarnjs&dib_tag=se&keywords=14mm%2Bkeyway%2Bhub%2Bflange&qid=1774123436&sprefix=14mm%2Bkeyway%2Bhub%2Bflange%2Caps%2C280&sr=8-1&th=1 | $26.25 | $26.25 | |||
| X | 2 Pack 32207 Tapered Roller Bearing Cone and Cup Set, 35mm Bore 72mm OD 24.5mm Cup Width, Chrome Steel Taper Bearings Set, ABEC-3 | Base bearing set | 1 | https://www.amazon.com/HIPicco-32207-Tapered-Bearing-Bearings/dp/B0DZNPL3CY/ref=sr_1_1_sspa?crid=I0S978UGMLJ&dib=eyJ2IjoiMSJ9.m5revuLvwpkv9LNXuQhGA1g5peX_0T13V0ZjgCdxJEcnAW5i2UlFF13wQjJeBHr6qnLuAL5z2MDja2M8E-kTS2grLySc3N5qwhs7XF_kPtL1kk6fOzeRHTWasc0DeF2OkVexbGqmIZ-dvNA9EORBngbiY_w2bwzbKty5sry4SSAMzsDyBvpO9TKlbbTrnPaGXzPjIZzXud8CYaeVhF1sqWz4LFCrstvL8SgAMz_27aY.R9AfgZAVCXaKoosDTuvdVHNcnGUi069mSBmNOTnQwdw&dib_tag=se&keywords=32id%2B72od%2Btapered%2Broller%2Bbearings&qid=1774123601&sprefix=32id%2B72od%2Btapered%2Broller%2Bbearings%2Caps%2C263&sr=8-1-spons&sp_csd=d2lkZ2V0TmFtZT1zcF9hdGY&th=1 | $26.89 | $26.89 | ||
| Geeyu Rubber Timing Belt, HTD 447/450-3M, Width 6/9/12/18mm (Color : Length 447MM, Size : Width 9mm) | Base HDT -3M timing belt 9mm wide 447mm long | 1 | https://www.amazon.com/Geeyu-Rubber-Timing-450-3M-Width/dp/B09SYKG1DD?th=1 | $16.46 | $16.46 | |||
| HTD3M Pulley 20 Teeth 8mm Bore Motor Belt Pulleys Timing Pulleys DIY fit for Width 15mm Timing Belt for CNC Laser Machine Engraving Machine Pack of 1pcs | pulley for base and elbow joint | 2 | https://www.amazon.com/3M-HTD-Pulley-Belt-Timing/dp/B016NKEV14/ref=sr_1_1?crid=1WIFUXKVOYN7Y&dib=eyJ2IjoiMSJ9.brvuURomofKSZuoBkvkL8dBImk78klzlLRO2AeErjAPtdnefVPn3gPbBAF9ErMej-h72OPE8dRmOqmHRENn_OEU7MzuQ2iVUJAnUToaz4Sq9pkHPJJ5grwMH2lCkpLFAe6fhDSueNcvKo-SalkEtdiX_XUaP2xdyvykNIr56o4oFwIgFXX5LE4_QPcKd6TgRsfGju2MCVdAGbexBOnmkU1vgITTM0-xIDPTy09Nxym_8j-JEYhskE7M2uxdCTEGs-dxXEdeUZHMqs6oUeOD9Xpc9cHKkdCrKe5SOcQgwXNQ.cqrvd4meQdjdODGU3ET6iSvu4CInRmmMU_IkUgtt_yg&dib_tag=se&keywords=htd+3m+pulley+8mm&qid=1775345714&s=industrial&sprefix=htd+3m+pulley+8mm+%2Cindustrial%2C200&sr=1-1 | $10.88 | $21.76 | |||
| X | uxcell 6814-2RS Deep Groove Ball Bearing 70x90x10mm Double Sealed Chrome Steel Bearings | shoulder bearings | 2 | https://www.amazon.com/uxcell-6814-2RS-Bearing-70x90x10mm-Bearings/dp/B0B5XQBXMH/ref=sr_1_3?crid=1FZYKGT7KAVMO&dib=eyJ2IjoiMSJ9.Eb-jG3fWVpoEO1Rs-CcuNR3IAxY6qxPHdEbOzVf-7sHjaOC51UhW-j8Lv7rVYYiKFqvjYq-Gtja7LEYzoIFHxRozzLk0oj1gzU9qC_m9UExthpLoO5vgpaH7_p46KuZNIhxt21rSMptp5ZuRvuxnmy2-gc5ZdD7tn-YYXWHVOqiaD_NLuChr0NOPLyqJLlJu41_QQohXkMznXCZg5yZvnLOENO7BkIZclOAMlXLyjIE.Yzv_vhO4MXYlpyzNfhK2x2HWN22FELEt6ZllDZ2fbV0&dib_tag=se&keywords=70mm%2Bid%2Bbearing&qid=1774885956&sprefix=70mm%2Bid%2Bbearin%2Caps%2C199&sr=8-3&th=1 | $14.69 | $29.38 | ||
| Red/Black wire for power | 20 awg wire for power | 1 | https://a.co/d/0go0qKuj | 12.34 | 12.34 | |||
| HTD3M 324 Close Loop Black Timing Belt Synchronous Belt Pitch 3mm Width 10mm (HTD 3M-324, 10mm Width) | elbow Belt | 1 | https://www.amazon.com/HTD3M-Close-Timing-Synchronous-3M-408/dp/B07RVBTD44/ref=sr_1_1?crid=2YV55FFT8ATAH&dib=eyJ2IjoiMSJ9.f7X3BeyNndoyEdk705XQyNC9gbJ4mGGLZ8z2aH11mn8QYg6THr3wU_Pj64ZgZ7iHm09rxlfVL_BA998uhkFo1ig8EmieQxltLPDa0cc3ukgNBty8uw08MJxyLW9ci9U1HG8ou29Cb94tBUTHGzZCaAhmX9jtUGWWjCQgAbwHCzF9FNTDc08gBmw-bgnkWw1bxyx0DFvV7sF-3_By-gD9HHaBKr4bhvdtu18Uq02aYeg.4hMCRhkj5QKXMg_Q0ktmuYkHscS99RylK7UyykXMWsI&dib_tag=se&keywords=htd%2B3m%2Btiming%2Bbelt%2B10mm%2Bwide&qid=1775346137&sprefix=htd%2B3m%2Btiming%2Bbelt%2B10mm%2Bwid%2Caps%2C205&sr=8-1&th=1 | $8.76 | $8.76 | |||
| BAOMAIN Emergency Stop Switch with Enclosure, 660V 10A Red Mushroom Push Button, 1NO 1NC N/O N/C, IP65 Waterproof Weatherproof Surface Mount E-Stop Station for Industrial & Control Systems | Big Red button. Runs between the drivers and the power supply | 1 | https://www.amazon.com/Baomain-Emergency-Switch-Button-Weatherproof/dp/B00NTT91Y0/ref=sr_1_3?dib=eyJ2IjoiMSJ9.KU17yQ3yLVYbD5Kg-pB8vgyCAEkagzG4rG_WJohd28RxtxMWwQDTxxjxiNen9kAeULRFJuEiTFVGd98NvWXLDLo05dhWFvZL2K6Ka4PCTbJGNs4fx0wSeDf9plqT9BQRQLIoy9AabODHLeWLLMIHAPG2dRzhpnPmepCewmtcD5umiOuw4W-iK5gUYOP16SiYGHTiu62-W-PA-oEebax3I_lpQiQX5Mk79IUAKLt8hGg.4m5G3Ww0cKzAVF8h_JNvBii_ihle8UFEXEw5XBLPmR0&dib_tag=se&keywords=emergency%2Bstop%2Bbutton&qid=1775406084&sr=8-3&th=1 | $9.99 | $9.99 | |||
| 0.6 NM NEMA 17 stepper motors | Taken from the lab- for the final two joints | 2 | $12.00 | $24.00 | ||||
| Upgraded Version TB6600 Stepper Motor Drivers, 2Pcs 4A 9-42V Stepper Driver for 39 42 57 Stepper Motor, Nema 17 / 23 Step Motor Driver Controller | Wrist joint motor drivers | 1 | https://www.amazon.com/DiGiYes-Upgraded-Version-Stepper-Controller/dp/B0CHRWD54S/ref=sr_1_3?crid=1T00F648NKIHB&dib=eyJ2IjoiMSJ9.YBrAfO4qy4-IewcakcI-cEwhNOvMOApej3feKXNne5mCYyNr0ksoVH_pTg1a6vQ1t5C8ktx9Z01nR76tNhZtpIxd2GxoSAyh2se6BxInYmJOh1FDEt64FO7KFSuwBR449T4B-eHh3DictuC73sEK5RRTs0PzbfE72eWQGTYKKx9g3A-brl3vzoGA6Fz8tQMDyJr0uk233Fzfvsvt9DbxhmcQsbincC2-zZ7hgbI4f40.K1qGlEt39TfYrIMYUOGy_NsgrZl9NNfHaU7-dmCKjSg&dib_tag=se&keywords=stepper+motor+drivers+2pcs&qid=1779197375&sprefix=stepper+motor+drivers+2pc%2Caps%2C193&sr=8-3 | $15.79 | $15.79 | |||
| TUOFENG 22awg Wire Flexible Silicone Wire,22 Gauge Tinned Copper Wires Silicone Rubber Insulated (6 Different Colored 26ft / 8m Each) Stranded Wire Hook up Wires Kit] | 22 AWG silicone signal wire. this includes six rolls of different colors 8m each. is probably more than enough (i havent calculated) | 1 | https://www.amazon.com/gp/aw/d/B07G2JWYDW/?encoding=UTF8&pd_rd_plhdr=t&aaxitk=4c9df62f60ac4504a1187781139a39bc&hsa_cr_id=0&qid=1775513116&sr=1-1-9e67e56a-6f64-441f-a281-df67fc737124&ref=sbx_s_sparkle_sbtcd_asin_0_title&pd_rd_w=oRMfl&content-id=amzn1.sym.2fb72bc8-96ef-420d-b08f-c04b69f36507%3Aamzn1.sym.2fb72bc8-96ef-420d-b08f-c04b69f36507&pf_rd_p=2fb72bc8-96ef-420d-b08f-c04b69f36507&pf_rd_r=MZYM7V32V3J0DBJBEQXD&pd_rd_wg=WXKrI&pd_rd_r=9d3d6ccc-80e9-444d-a225-62ceec2f07e6&th=1 | $15.69 | $15.69 | |||
| 450 Pcs Heat Shrink Tubing Kit, 14 Sizes Black Heat Shrink Tube, Shrink Ratio Electric Heat Shrink | 1 | https://www.amazon.com/Shrink-Tubing-Sizes-Black-Ratio/dp/B08N5246YB/ref=sr_1_3?crid=2LRMEFFT0T365&dib=eyJ2IjoiMSJ9.OhemSEL6lNSbuETpzP9Z_LpvzeuM-N9qWngEXet3ft4tCapMI9FrNttUDMjczTPXoK0ZM64Y-p8jVnCrdxHoAGIkGqRlhmM79bdm2CHsXFCfPWCzdaEh81fsmXTrqofxZ4h_QTtfJIG7rdDQ32F_ba2e4PHp8Cb5ktsG3r7tM60-Xi1sOX7XnbiGtg20XJ65-ki_kg_Q2z39fItZdFtTutJ4PQYYXKjjIoKYwpwJPsyUvVMcT_Z_-3T0H5Hh37cX8fRzMDlZirYcXuEi4KwZDE72gp9s9ds-2oZmMIgw2sM.WDWOd6zz7aovx2zR1xF2SZaI6vQcNZ-MhVg0jKex7_4&dib_tag=se&keywords=heat%2Bshrink&qid=1775513419&refinements=p_36%3A-1000&rnid=1243644011&s=hi&sprefix=heat%2Bshrink%2Ctools%2C149&sr=1-3&th=1 | $9.99 | $9.99 | ||||
| uxcell AXK4565 Thrust Needle Roller Bearings with Washers 45mm Bore 65mm OD 3mm Width | Thrust bearing for elbow bearing system | 1 | https://www.amazon.com/uxcell-AXK4565-Bearings-Diameter-Thickness/dp/B07GC8Y4LR/ref=sr_1_3?crid=2KKFIL5QQZD1M&dib=eyJ2IjoiMSJ9.syewouc4P_5BDDlFl-KDpdt90bDGvxWpj6b9NdaLQ7Y33wSEV_5pFiVhTejk0ypNuf8eVvcNst8ONc9PvVbRnFS6heC5VKt_L4aSLKIiYshwsve0lCXiYH-UUrYd7VZDmbhgcAmUE2x6uUDqmiU-17Ra0h00dGmANpbFrnYNFGBwNz3h2eS8H21xLyMfgN--uksljwTwEDypavcBN7lGTA2gAu6GCPiNPbpgSdJFOi4.RE3wTITIYG0Ny2KQ5gON6xGHz_wICgB6s-hHC7nLxrk&dib_tag=se&keywords=roller%2Bbearings%2B45mm%2Bbore&qid=1775581786&sprefix=roller%2Bbearings%2B45mm%2Bbo%2Caps%2C236&sr=8-3&th=1 | $6.21 | $6.21 | |||
| uxcell 32908 Tapered Roller Bearing Cone and Cup Set, 40mm Bore x 62mm OD x 15mm Thick, Chrome Steel Taper Bearing Set, ABEC-3 | Roller bearing for elbow bearing system | 1 | https://www.amazon.com/dp/B0FT1KL249/ref=twister_B0FY5MDZB8?_encoding=UTF8&th=1 | $14.89 | $14.89 | |||
| m5 and m3 heat inserts taken from the lab | free | 0 | ||||||
| Wood screws from the shed | free | 0 | ||||||
| Wood plank | Wood plank we had lying around that I used for the base | free | 0 | |||||
| 3d Print Filament | I used the lab's printers | free | https://www.traceparts.com/en/product/schaeffler-technologies-ag-co-kg-barrel-roller-bearings?CatalogPath=TRACEPARTS%3ATP01002001007004&Product=33-02052019-081253&PartNumber=329088 | |||||
| https://www.traceparts.com/en/product/motion-industries-roller-cage-assembly-50-mm-bore-70-mm-od-3-mm-width?CatalogPath=MOTION_1402216426%3AROOT001005001004&Product=90-16092022-040042&PartNumber=AXK%205070 | ||||||||
| EG Series Planetary Gearbox Gear Ratio 20:1 Backlash 20arc-min for 8mm Shaft Nema 23 Stepper Motor | Shoulder joint gearbox option 2. 30nm permissable torque, 3x that of the 10:1 above | 1 | https://www.omc-stepperonline.com/eg-series-planetary-gearbox-gear-ratio-20-1-backlash-20-arc-min-for-8mm-shaft-nema-23-stepper-motor-eg23-g20-d8 | $46.87 | $46.87 | |||
| CL57T Nema 23 Closed Loop Stepper Driver | Automatically adjusts according to feedback recieved from the stepper's encoder | 1 | https://www.omc-stepperonline.com/ts-series-2-0-nm-283-28oz-in-1-axis-closed-loop-stepper-cnc-kit-nema-23-motor-driver-1-cl57t-s20-v41 | $86.60 | $86.60 | |||
| NEMA 23 closed loop stepper Motor 2NM torque | Shoulder Joint Motor 8mm shaft | 1 | Above link contains both | $0.00 | ||||
| Gates 180XL037 PowerGrip Timing Belt, Extra Light, 1/5" Pitch, 3/8" Width, 90 Teeth, 18" Pitch Length | Base timing belt | 1 | https://www.amazon.com/Gates-180XL037-PowerGrip-Timing-Length/dp/B00CMIJX3I/ref=sr_1_3?crid=26CD5M6OZC7VS&dib=eyJ2IjoiMSJ9.rq0c8IMblIOSV0DmYhwC69HPRbhG_tb6Y_1VVARDxVOdh4byaj_W_uwEUR0Ml7lnquJEJxlH0MFZHMJFGhLlrvoLXxDOdR1E57yMEWnCbegcDvOl_n5NrYvonxQwzvgjQ2E3AHYkYMHltQwGlcgV0uxGlqez3HYK01YOwhYki2r9glVI1TAm7VDois0Dz9KdVDtNgxtj1lbIMOqMzgLkoSgXan7n1fYOcxW6vvCYBU0.m4nAz0cLcI-azKb0KvjMFHx5HvsO-if7BZwfOJ0MlMQ&dib_tag=se&keywords=90+teeth+18in+pitch+length+belt&qid=1773634167&sprefix=90+teeth+18in+pitch+length+%2Caps%2C887&sr=8-3 | 24.03 | 24.03 | |||
| WINSINN GT2 Timing Belt Pulley 20 Teeth, 8mm Bore, for 10mm Width Belt 5 pack | Driver pulley for the base | 1 | https://www.amazon.com/WINSINN-Aluminum-Synchronous-Timing-Printer/dp/B07BTDRW5Z/ref=sr_1_1?crid=MRVQT55W84HR&dib=eyJ2IjoiMSJ9.MaO4BWFvwZMeocXjsFSERztCIBNIx69Ghm2GCIZlISY8BGGPZ5_d0yaHeJf5A7Tuim5S4s3LQrusvCM-RswDuLIh22Knm-9ZpmhQpOVrkqonqdJ-cLhqXFfkYY8hqDH-GfIT4M2kOMyYNq1ZyDogbNGJSaTZz9aiH54KH9h4s8EodTareDfkSAOtWKSolP7nLU7IMADFQG7JRcGy9l8Udm2avy9yIpdGD09ZkviP7pY.WtBHMKbrrELwHqF_w2xY8rNJM1eIMzq_2IeFkJqL6lc&dib_tag=se&keywords=1%2F5%2Bin%2Bpitch%2Bgt2%2Bpulley%2B10mm%2Bwidth%2B8mm%2Bdiameter&nsdOptOutParam=true&qid=1773634383&sprefix=1%2F5%2Bin%2Bpitch%2Bgt2%2Bpulley%2B10mm%2Bwidth%2B8mm%2Bdia%2Caps%2C739&sr=8-1&th=1 | 7.99 | 7.99 | |||
| Openbuilds Aluminum Nema 23 Stepper Motor Mounting Plate ALIExpress Plate for mounting the base motor vertically 1 https://www.aliexpress.us/item/3256805494089053.html?gatewayAdapt=glo2usa4itemAdapt 3d Printed | ||||||||
| STL of that mounting plate: https://grabcad.com/library/motor-mount-plate-nema-23-1 0 | ||||||||
| 0 |