ABCDEFGHIJKLMNOPQRSTUVWXYZAA
1
Bill of materials (incomplete) for the Jenny5 robothttps://www.jenny5.org
https://jenny5-robot.github.io
2
DOCUMENT VERSION2019.08.10.0
3
4
All prices are in USD
5
In some cases the price includes VAT (19%)
Some prices are approximate; You can buy for more or less at your local store. Prices can be different depending on your location.
6
Price for PLA parts is not listed individually for each part. Instead 2 kgs of PLA are added at the end.
7
Price for aluminium sheets/bars/tubes is not listed individually for each part. Instead, they are listed at the end of the document. The developer shoud buy a long bar or sheet and cut from it.
8
9
Component nameQuantityPrice / unit (USD)Total pricewhere to buy from?Comment 1
10
11
PLATFORM - off the shelf parts
12
GR-EP-45 High Power 45mm Planetary Gearmotor 188:1 ratio250100
https://gimsonrobotics.co.uk/categories/dc-electric-motors/products/gr-ep-45-high-power-45mm-planetary-gearmotor
Any other strong motor is ok. This one is too strong, but I could not find another reduction between 13 and 188. Also, it has a 40 mm diameter which fits in a 40 mm diameter bearing.
13
10mm Aluminium Machined Mounting Hub212$24$
https://gimsonrobotics.co.uk/categories/dc-electric-motors/products/10mm-aluminium-machined-mounting-hub
14
Battery high capacity (>=10Ah) 178$78$https://hobbyking.com
One battery is shared by both platform and leg. Smaller batteries are ok, but they last less.
15
Motor controller RoboClaw 2x15A1108108
https://www.basicmicro.com/
16
Rubber tracks 1040x40 KCM-50B2100200
https://kymoon.en.alibaba.com/
17
Radial bearings 690714228your local store
18
M4 autolock nut1000.110your local store
19
M4x50 hexa screw240.12.4your local store
20
M4x16 large head screw240.12.4your local store
21
M4x100 screw bar40.10.4your local store
for fixing the bearing housing to platform
22
M8x50 hexa screw20.10.2your local store
rubber tracks tensioner
23
24
PLATFORM - plastic parts
25
base_platform/tracks.scad/wheel_middle_with_bearing_hole()12003D printed
26
base_platform/tracks.scad/wheel_extension_with_teeth()8003D printed
27
base_platform/tracks.scad/wheel_wall()12003D printed
28
base_platform/tracks.scad/spacer_round()16003D printed
these are for the middle wheels
29
base_platform/tracks.scad/platform_wheel_gear()2003D printed
30
base_platform/base_platform.scad/rbearing_6909_vertical_housing_half()
4003D printed
31
32
PLATFORM - aluminium parts
33
base_platform/base_shafts.scad/first_shaft()200
first and the second shaft are the identical
34
base_platform/base_shafts.scad/third_shaft()100
35
base_platform/tracks.scad/base_motor_support_sheet()200
36
tracks tensioner support (40x15x10)200
37
38
39
PLATFORM - wooden parts
40
base_platform/base_platform_sheets.scad/platform_sheet()155your local store
41
42
43
-----------------------------------------------------------
44
45
LEG - off the shelf parts
46
Linear motor 10 cm stroke, 750 N24080ebay
47
Motor controller RoboClaw 2x7A18383
https://www.basicmicro.com/
48
Radial bearing 600132264your local store
49
Radial bearing 6905428your local store
50
M12x150 hexa screw414your local store
preferably to be sunken, but you can use a hexa screw and polish the head later
51
M12 autolock nuts120.56your local store
52
M12x50 sunken screw10110your local store
53
M4x20 sunken screw640.16.4your local store
54
M12 x 250 screw bar212your local store
55
Grover washer 12 mm hole240.12.4your local store
56
M12 simple nuts160.23.2your local store
57
M8x70 round head screws40.10.4your local store
for connecting the leg to base platform
58
M4x60 sunken screws80.10.8your local store
for fixing leg pusher bearings to leg bone
59
SHF20 shaft suport21020your local store
60
M8x30 sunken screw120.11.2your local store
for connecting base sides to base_spacer
61
62
LEG - plastic parts
63
leg/leg_bones.scad/rbearing_6001_double_housing_thicker_wall()16003D printed
64
leg/leg_bones.scad/radial_bearing_6905_vertical_housing()4003D printed
65
66
67
LEG - aluminium parts
68
leg/leg_sheets.scad/leg_base_side()400your local store
buy a 1.5m long aluminium bar of 40x10mm and cut all base/knee sides from it
69
leg/leg_sheets.scad/knee_side()400your local store
70
leg/leg_bones.scad/leg_bone()800your local store
buy 4m long aluminium tube of 40x20x2mm and cut 8 bones from it
71
leg/leg.scad/leg_base_spacer()600your local store
Aluminium sigma profile 30x30 mm and 129mm long/ buy a 1m long sigma profile and cut all base/knee spacers from it
72
73
74
75
76
-----------------------------------------------------------
77
78
ARMS - off the shelf parts
Materials, prices are for 2 arms
79
Nema 17, 50.9:1 gear, motor length = 48430120
https://www.omc-stepperonline.com/
these are for upper arm and
80
Nema 17, 26.8:1 gear, motor length = 48630180
https://www.omc-stepperonline.com/
81
Logitech C920 camera260120https://www.amazon.com
82
stepper motor drivers (A4988)12224www.ebay.com
83
A-Start 32U4 Mini236www.ebay.com
84
AS 5147 magnetic rotary position1017170
https://www.digikey.com/product-detail/en/ams/AS5147-TS_EK_AB/AS5147-TS_EK_AB-ND/5452350
85
Sharp IR distance sensor (GP2Y0A41SK0F)21020www.pololu.com
86
Battery LiPo, high capacity (>= 10Ah) - 6 Cells1100100https://hobbyking.com
The same battery powers the arms and the head. Can use lower capacity.
87
radial bearing 624720.536local store, ebay
88
radial bearing 690712224local store, ebay
89
radial bearing 69880.54local store, ebay
90
Belt T5x165 10mm thick4312local store, ebay
91
Belt T5x320 10mm thick8540local store, ebay
92
Belt T5x940 10mm thick2816local store, ebay
93
Belt T5x1075 10mm thick2918local store, ebay
94
Pulley T5, 14 teeth (height 10mm)8216local store, ebay
95
Pulley T5, 12 teeth (height 10mm)428local store, ebay
96
Pulley T5, 15 teeth (height 10mm)428local store, ebay
97
98
ARM - plastic parts
99
arm/arm_pulleys.scad/wrist_pulley();2003D printed
100
arm/arm_pulleys.scad/shoulder_traction_pulley();600