Bill of Materials.xlsx

	A	B	C	D	E	F	G	H
1	Part	Source	P/N	Description	Qty	Total Price	Link	Notes
2	Dynamixel Motor	Robotis	902-0173-000	XC330-M288-T, 5 V motor. Stall Torque: 0.93 Nm No-Load Speed: 81 rpm	2	$ 159.80	https://www.robotis.us/dynamixel-xc330-m288-t/	Takes position, current, velocity control
3	Mounting Bracket	Robotis	903-0301-000	Off-the-shelf mounting	1	$ 7.90	https://www.robotis.us/fpx330-s101-4pcs-set/	-
4	Power Hub	Robotis	902-0145-001	For SMPS power supply	1	$ 17.30	https://www.robotis.us/u2d2-power-hub-board-set/	Not essential
5	USB Converter	Robotis	902-0132-000	U2D2	1	$ 29.30	https://www.robotis.us/u2d2/	-
6	Power supply	Amazon	B078RT3ZPS	5 V, 5 A	1	$ 16.49	https://www.amazon.com/ALITOVE-Converter-5-5x2-1mm-100V-240V-Security/dp/B078RT3ZPS	Could be swapped with existing supply
7	Mini45 F/T Sensor	ATI	SI-145-5	6 axis force/torque sensor. Very sensative.	1	$ 6,675	https://www.ati-ia.com/products/ft/ft_models.aspx?id=mini45	Same one currently used.
8	RealSense Camera	Intel	D435		1	$ 299.00	https://store.intelrealsense.com/buy-intel-realsense-depth-camera-d435.html?_ga=2.98755934.1761608763.1655244321-1738697979.1655244321	Currently in lab.
9	Gripper Connector	3D Print	-	Pads to connect to gripper, screw hole for RealSense, clearance holes for motors.	1	-	-	-
10	Bracket Arm	3D Print	-	Motor-to-motor adapter	1	-	-	Best printed with SLA/stronger material
11	Load Adapter	3D Print	-	Motor-to-F/T sensor	1	-	-	Easy to replace with lasercut piece.
12	Fork Adapter	3D Print	-	Has hole for inserting fork	1	-	-	May require testing for specific fork
13	Camera Holder	3D Print	-	Requires 4 M3 screws to attach to gripper connector	1	-	-	For Intel Realsense D435
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