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Bill of materials (incomplete) for the Jenny5 robot
https://www.jenny5.org
https://jenny5-robot.github.io
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DOCUMENT VERSION2019.08.10.0
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All prices are in USD
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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.
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Price for PLA parts is not listed individually for each part. Instead 2 kgs of PLA are added at the end.
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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.
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Component nameQuantity
Price / unit (USD)
Total pricewhere to buy from?Comment 1
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PLATFORM - off the shelf parts
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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.
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10mm Aluminium Machined Mounting Hub212$24$
https://gimsonrobotics.co.uk/categories/dc-electric-motors/products/10mm-aluminium-machined-mounting-hub
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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.
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Motor controller RoboClaw 2x15A1108108
https://www.basicmicro.com/
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Rubber tracks 1040x40 KCM-50B2100200
https://kymoon.en.alibaba.com/
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Radial bearings 690714228your local store
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M4 autolock nut1000.110your local store
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M4x50 hexa screw240.12.4your local store
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M4x16 large head screw240.12.4your local store
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M4x100 screw bar40.10.4your local store
for fixing the bearing housing to platform
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M8x50 hexa screw20.10.2your local store
rubber tracks tensioner
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PLATFORM - plastic parts
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base_platform/tracks.scad/wheel_middle_with_bearing_hole()12003D printed
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base_platform/tracks.scad/wheel_extension_with_teeth()8003D printed
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base_platform/tracks.scad/wheel_wall()12003D printed
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base_platform/tracks.scad/spacer_round()16003D printed
these are for the middle wheels
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base_platform/tracks.scad/platform_wheel_gear()2003D printed
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base_platform/base_platform.scad/rbearing_6909_vertical_housing_half()
4003D printed
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PLATFORM - aluminium parts
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base_platform/base_shafts.scad/first_shaft()200
first and the second shaft are the identical
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base_platform/base_shafts.scad/third_shaft()100
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base_platform/tracks.scad/base_motor_support_sheet()200
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tracks tensioner support (40x15x10)200
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PLATFORM - wooden parts
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base_platform/base_platform_sheets.scad/platform_sheet()155your local store
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LEG - off the shelf parts
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Linear motor 10 cm stroke, 750 N24080ebay
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Motor controller RoboClaw 2x7A18383
https://www.basicmicro.com/
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Radial bearing 600132264your local store
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Radial bearing 6905428your local store
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M12x150 hexa screw414your local store
preferably to be sunken, but you can use a hexa screw and polish the head later
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M12 autolock nuts120.56your local store
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M12x50 sunken screw10110your local store
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M4x20 sunken screw640.16.4your local store
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M12 x 250 screw bar212your local store
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Grover washer 12 mm hole240.12.4your local store
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M12 simple nuts160.23.2your local store
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M8x70 round head screws40.10.4your local store
for connecting the leg to base platform
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M4x60 sunken screws80.10.8your local store
for fixing leg pusher bearings to leg bone
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SHF20 shaft suport21020your local store
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M8x30 sunken screw120.11.2your local store
for connecting base sides to base_spacer
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LEG - plastic parts
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leg/leg_bones.scad/rbearing_6001_double_housing_thicker_wall()
16003D printed
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leg/leg_bones.scad/radial_bearing_6905_vertical_housing()4003D printed
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LEG - aluminium parts
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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
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leg/leg_sheets.scad/knee_side()400your local store
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leg/leg_bones.scad/leg_bone()800your local store
buy 4m long aluminium tube of 40x20x2mm and cut 8 bones from it
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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
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ARMS - off the shelf parts
Materials, prices are for 2 arms
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Nema 17, 50.9:1 gear, motor length = 48430120
https://www.omc-stepperonline.com/
these are for upper arm and
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Nema 17, 26.8:1 gear, motor length = 48630180
https://www.omc-stepperonline.com/
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Logitech C920 camera260120
https://www.amazon.com
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stepper motor drivers (A4988)12224www.ebay.com
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A-Start 32U4 Mini236www.ebay.com
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AS 5147 magnetic rotary position1017170
https://www.digikey.com/product-detail/en/ams/AS5147-TS_EK_AB/AS5147-TS_EK_AB-ND/5452350
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Sharp IR distance sensor (GP2Y0A41SK0F)21020www.pololu.com
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Battery LiPo, high capacity (>= 10Ah) - 6 Cells1100100https://hobbyking.com
The same battery powers the arms and the head. Can use lower capacity.
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radial bearing 624720.536local store, ebay
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radial bearing 690712224local store, ebay
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radial bearing 69880.54local store, ebay
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Belt T5x165 10mm thick4312local store, ebay
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Belt T5x320 10mm thick8540local store, ebay
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Belt T5x940 10mm thick2816local store, ebay
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Belt T5x1075 10mm thick2918local store, ebay
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Pulley T5, 14 teeth (height 10mm)8216local store, ebay
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Pulley T5, 12 teeth (height 10mm)428local store, ebay
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Pulley T5, 15 teeth (height 10mm)428local store, ebay
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ARM - plastic parts
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arm/arm_pulleys.scad/wrist_pulley();2003D printed
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arm/arm_pulleys.scad/shoulder_traction_pulley();600
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