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Total price: $889.8 USD
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Structural
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ComponentsSpecificationDimensions * NumbersDescriptionTotal Price
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aluminum extrusion2020 European standard1520 mm*4
320 mm*4
280 mm*4
200 mm*4
240 mm*3
92 mm*2		Structural support$57.95 USD
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acrylic plate5mm thickAs platform for development boards & crumple zone$15.34 USD
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3D print partsPLA plasticHolder for motors, UVC lamps, sensors, and battery$3.41 USD
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Nuts, bolts, washersM5, M3lots$34.09 USD
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Aluminum corner brackets2028
1720		lots
lots		$20.45 USD
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Electrical
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ComponentsSpecification (*Numbers)DescriptionTotal Price
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Depth CameraIntel RealSense Depth Camera D435Uses TOF to acquire real time depth data$238.60 USD
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Arduino Mega2560Communicate with RPi & peripheral devices$17.04 USD
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Raspberry Pi 4 Model B1$71.58 USD
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Dual motor driverTB6612FNG (*2)Driver of DC motors$3.75 USD
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DC motorJGB37-545
12V 35kg-cm 47 RPM(*4)		Provide mobility of robot$73.62 USD
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Lead acid batterySCB 12V 24Ah (6-DZM-20)Heavy battery provides stability and long lifetime$44.75 USD
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Voltage detect sensorKSM048Estimate the DOD(depth of discharge) of battery$1.47 USD
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Voltage step-down moduleLM2596 (*1)
HW-316 V6.0 (*1)		Convert 12 V to 5 V for Raspberry Pi and servo motor$5.11 USD
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4 channel 5V relay moduleJQC3F-05VDC-CControls 6 UVC lamps and warning light on the top$3.41 USD
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Electrical ballastDV 12V 40W (*4)
DV 12V 12W (*1)		For UVC lamps$39.37 USD
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UVC lampsPHILIPS
T8 1199.4mm 36W (*4)
UVC radiation: 14.6W
lifetime: 9000 hr.

T5 212.1mm 6W (*2)
UVC radiation: 1.3W		T8 lamps mounted vertically
T5 lamps mounted horizontally down bottom		$74.17 USD
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Servo motorMG995
180 degree freedom		Sweeps distance sensor to avoid collision$5.69 USD
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Distance sensor(TOF) VL53L0X V2Collision avoidance near floor
& stairs/fall detection in front of wheels		$5 USD
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Passive infrared sensorAM312(*4)Detect presence of human$15.61 USD
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Photo interrupterTCST2103optical endstop
As an encoder		$1.87 USD
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Miscellaneous
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ComponentsSpecification (*Numbers)DescriptionTotal Price
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Battery chargeriMAX B6 80W$23.56 USD
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Rubber1 mm thick approx.Pasted to the battery mount to add friction and absorb shock$0.35 USD
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Mecanum wheels(*4)Provides omni-directional movements$64.08 USD
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Lamp fixtures(*4)Mounted on 4 vertical aluminum profiles$38.86 USD
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Lamp reflectors$8.18 USD
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Warning LightOn top of the robot$3.75 USD
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SpeakerUSB DC 5VOutputs audio warning when UVC lamp is on, especially when human interrupts$3.41 USD
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No fuse breaker15A maximumCircuit fail-safe$1.53 USD
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Various adapters
(made of acrylic)		3mm thick acrylic plateModularize each devices to allow quick modifications$6.82 USD
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EVA foam11cm*120cm
4mm thick		Wrapped around the top plate for fall protection$0.34 USD
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Quick connect terminal block(*2)One for 12 V, one for ground$6.82 USD
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