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00_ORDER_PRINT_LASER_CUTTING.md

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Orders

In order to assemble the robot, you need to buy the following Items.

Bill of Materials Excluding Custom PCBs.

The robot can use a Jetson AGX Xavier or a Jetson AGX Orin. The Xavier and the Orin columns indicate whether the part is required with the Jetson AGX Xavier and the Jetson AGX Orin respectively.

Digi-Key

Part Xavier Orin Quantity Quantity per Package Package Quantity Link
Audio Amplifier - Adafruit MAX9744 X X 2 1 2 Link
Robot Power Connector - Female X X 1 1 1 Link
Robot Power Connector - Male X X 1 1 1 Link
19V Power Adapter X X 1 1 1 Link
Computer Power Connector - Male X X 1 1 1 Link
Power Switch X X 1 1 1 Link
Micro USB Connector X X 1 1 1 Link
Ethernet Connector X X 1 1 1 Link
Jumper X 1 1 1 Link
WiFi Antenna X 2 1 2 Link
Intel RealSense D435i X X 1 1 1 Link
Standoff - M2x10mm X X 4 1 4 Link
Standoff - M2x15mm X X 4 1 4 Link
Standoff - M3x10mm X X 8 1 8 Link
Standoff - M3x25mm X X 4 1 4 Link
Standoff - M3x10mm - Plastic X X 4 1 4 Link
M3 Plastic Nuts X X 4 1 4 Link
JST B2P-VH X X 2 1 2 Link
JST VHR-2N X X 2 1 2 Link
JST SVH-21T-1.1 X X 4 1 4 Link
Push Button X X 4 1 4 Link
Light Sensor X X 4 1 4 Link

McMaster-Carr

Part Xavier Orin Quantity Quantity per Package Package Quantity Link
Plastic Screw - M2x5mm X X 4 25 1 Link
Plastic Screw - M2.5x5mm X X 4 25 1 Link
Plastic Screw - M2.5x8mm X X 52 25 3 Link
Plastic Screw - M2.5x12mm X X 6 25 1 Link
Plastic Screw - M3x5mm X X 68 25 3 Link
Plastic Screw - M3x6mm X X 16 25 1 Link
Plastic Screw - M3x8mm X X 50 25 2 Link
Plastic Screw - M3x12mm X X 84 25 4 Link
Plastic Screw - M5x10mm X X 3 25 1 Link
Socket Cap Screw - M2x5mm X X 4 100 1 Link
Socket Cap Screw - M2x12mm X X 28 100 1 Link
Socket Cap Screw - M3x5mm X X 18 100 1 Link
Socket Cap Screw - M3x10mm X X 6 100 1 Link
Socket Cap Screw - M3x55mm X 4 1 4 Link
Socket Cap Screw - M5x16mm X X 6 100 1 Link
Socket Cap Screw - M5x30mm X X 3 10 1 Link
M2 Nuts X X 4 100 1 Link
M3 Nuts X X 10 100 1 Link
M5 Washer X X 18 100 1 Link
Dowel Pin X X 2 50 1 Link
Small Spring X X 4 5 1 Link
Big Spring X X 2 5 1 Link
Diffuser Plastic Sheet X X 1 1 1 Link
Cast Acrylic Sheet X X 1 1 1 Link

Robotis

Part Xavier Orin Quantity Quantity per Package Package Quantity Link
Dynamixel XL430-W250-T X X 7 1 7 Link

Amazon

Part Xavier Orin Quantity Quantity per Package Package Quantity Link
SSD X X 1 1 1 Link
USB 3.0 Hub X X 2 1 2 Link
Touchscreen X X 1 1 1 Link
Limit Switch X X 1 10 1 Link
270-Degree HDMI Adapter X X 2 1 2 Link
Nvidia Jetson AGX Xavier X 1 1 1 Link
WiFi Card X 1 1 1 Link
Ethernet Cable X X 1 1 1 Link
Mini-USB Cable X X 1 1 1 Link
Micro-USB Cable - Right Angle X X 1 1 1 Link
HDMI Cable (1.5 ft) X 1 1 1 Link
HDMI Cable (0.5 ft) X 1 1 1 Link
90-Degree Display Port Adapter X 1 1 1 Link
Display Port to HDMI Adapter X 1 2 1 Link
90-Degree USB-C Adapter X X 1 1 1 Link
1/8-Inch Stereo Jack Cable X X 2 1 2 Link
605zz Bearing X X 9 10 1 Link
Fan - Noctua NF-A4x20 X X 2 1 2 Link
16 AWG Wire X X 1 1 1 Link
20 AWG Wire X X 1 1 1 Link
22 AWG Wire X X 1 1 1 Link
Heat Shrink Tube Kit X X 1 1 1 Link
Ground Loop Noise Isolator X X 2 1 2 Link
19V Power Adapter Wall Cable X X 1 1 1 Link
RJ12 Connector X X 32 100 1 Link
RJ12 Flat Cable X X 1 1 1 Link
Ferrules X X 1 1 1 Link

Aliexpress

Part Xavier Orin Quantity Quantity per Package Package Quantity Link
Ball Joint - M3 Silver X X 12 20 1 Link
Threaded Rod - M3x180mm X X 6 10 1 Link
Slip Ring - M220-24 36wire 2A flange A X X 1 1 1 Link
Battery Charger Connector - JST PHR-6 X X 1 1 1 Link
Magnets (5x2mm) X X 46 50 1 Link
LED Connectors (XH, 200mm, 3 pin) X X 3 10 1 Link
LED Strip (WS2812B, 5M, IP30, 30/m) X X 1 1 1 Link
LED Strip (WS2812B, 1M, IP30, 144/m) X X 1 1 1 Link
JST-XH Connector Kit X X 1 1 1 Link
JST-PH Connector Kit X X 2 1 2 Link
JST-PH Right Angle (3P) X X 1 50 1 Link
T-Connector Cable (female with cable) X X 1 1 1 Link

Other

Part Xavier Orin Quantity Quantity per Package Package Quantity Link
Speaker X X 4 1 4 Link
Wide Angle Camera X X 1 1 1 Link
Wide Angle Camera Lens X X 1 1 1 Link
Power Connector X X 4 1 4 Link
Battery Charger - RRC-PMM240 X X 1 1 1 Link
Battery - RRC2054-2 X X 1 1 1 Link
16SoundsUSB X X 1 1 1 Link
xSoundsMicrophones X X 16 1 16 Link
RTC Clock Battery X 1 1 1 Link

Bill of Materials of Custom PCBs

PSU Control PCB

In order to assemble this PCB, you need to manufacture it. The Gerber files are located here.

# Quantity Reference(s) Value Link
1 21 C1, C7, C8, C11, C12, C13, C14, C15, C16, C17, C18, C19, C20, C21, C22, C25, C26, C27, C28, C29, C30 0.1µF/25V Link
2 1 C2 22µF/25V Link
3 1 C3 1µF/10V Link
4 2 C4, C31 22μF/10V Link
5 3 C5, C9, C23 100µF/35V Link
6 1 C6 680µF/35V Link
7 2 C10, C24 10µF/25V Link
8 3 D1, D2, D3 DSS16U Link
9 2 D4, D5 White Link
10 1 D6 SMAJ9.0A-13-F Link
11 1 D7 SZ1SMA24AT3G Link
12 2 F1 Fuse Clip Link
13 1 F1 10A Slow Blow Link
14 3 J1, J2, J4 OSTTA020161 Link
15 1 J6 LED Strip - 5m 30-LEDs IP30 Link
16 1 J6 LED Strip - 1m 144-LEDs IP30 Link
17 2 L1, L2 22µH (NS12575T220MN) Link
18 1 LS1 CEM-1206S Link
19 1 Q2 SUD50P04-09L-E3 Link
20 1 Q3 T2N7002AK Link
21 1 Q4 DMG9926USD Link
22 4 R3, R4, R40, R41 2.2k Link
23 5 R5, R6, R13, R23, R24 100k Link
24 2 R9, R10 0 Link
25 2 R11, R12 10 Link
26 1 R14 0.004 Link
27 14 R15, R18, R25, R26, R27, R28, R29, R30, R31, R32, R33, R34, R35, R36 10k Link
28 3 R21, R22, R39 698 Link
29 2 R37, R38 63.4 Link
30 1 R42 47 Link
31 2 R43, R44 0 Link
32 1 TH2 10k Link
33 1 U2 Teensy LC Link
34 0.2 U2 2.54 mm Male Header Link
35 0.2 U2 2.54 mm Female Header Link
36 1 U3 INA220 Link
37 1 U4 K7805-3AR3 Link
38 1 U5 M74HC14YTTR Link
39 1 U6 SN74LV1T34 Link
40 1 U7 SN65C3221E Link
41 1 U8 74LVC2G34 Link
42 1 J6 JST-XH Kit Link
43 2 SW1, SW2, SW3, SW4, SW5, SW6, TH1, J7, J8, J11, J12, J13, J14, J15, J16, D4, D5, M1, M2 JST-PH Kit Link

Dynamixel Control PCB

In order to assemble this PCB, you need to manufacture it. The Gerber files are located here.

# Quantity Reference(s) Value Link
1 3 C1, C3, C14 10µF/25V Link
2 1 C2 4.7µF/25V Link
3 13 C4, C5, C7, C8, C9, C10, C11, C13, C15, C18, C19, C22, C23 0.1µF/25V Link
4 1 C6 10nF/25V Link
5 2 C12, C25 2.2µF/25V Link
6 1 J1 Male T-Connector Link
7 1 J2 JST-PH Right Angle 3 Positions Link
8 3 J8, J11, J12 Dynamixel Connector Link
9 2 L1, L2 12µH (RLS-126) Link
10 1 Q2 IPD068P03L3GATMA1 Link
11 1 Q3 T2N7002AK Link
12 4 R1, R2, R3, R12 10k Link
13 3 R4, R10, R11 0 Link
14 2 R7, R8 2.2k Link
15 1 R14 47 Link
16 3 R15, R16, R18 100k Link
17 4 R17 825 Link
18 1 SW1 JST-PH Kit Link
19 1 U1 R-78E5.0-0.5 Link
20 1 U2 SN74AHC1G14 Link
21 1 U4 Teensy 4.0 Link
22 0.2 U4 2.54 mm Male Header Link
23 0.2 U4 2.54 mm Female Header Link
24 1 U5 SN65C3221E Link
25 1 U6 ICM-40627 Link
26 1 U7 SN74LV1T34 Link
27 1 U8 SN74LVC2G241 Link

Buck-Boost PCB

In order to assemble this PCB, you need to manufacture it. The Gerber files are located here.

Common

The quantity of the following parts are for the 12V Buck-Boost PCB and 19V Buck-Boost PCB.

# Quantity Reference(s) Value Link
1 10 C1, C2, C3, C11, C25 1000µF/35V Link
2 8 C5, C6, C7, C8 10µF/35V Link
3 6 C9, C18, C24 1µF/35V Link
4 2 C10 0.47µF/16V Link
5 4 C12, C16 2.2µF/16V Link
6 2 C13 220nF/16V Link
7 2 C14 27nF/16V Link
9 2 C17 4.7µF/16V Link
10 2 C19 470µF/35V Link
11 8 C20, C21, C22, C23 22µF/35V Link
12 4 D2, D3 SS2040LL Link
13 2 D5 LED Link
14 10 J1, J2, J3, J4, J5 Terminal Block 2 Position Link
15 2 L1 15µH Link
16 2 L2 1µH Link
16 8 Q2, Q3, Q4, Q5 TK1R4S04PB Link
17 2 R1 412k Link
18 2 R2 80.6k Link
19 2 R3 0.003/1W Link
20 2 R4 12k Link
21 2 R5 309k Link
22 6 R6, R8, R10 10k Link
23 2 R11 301 Link
24 2 R12 0 Link
25 2 RV2 20k Link
26 2 U2 LT8392 Link

12V

Additionally, the 12V Buck-Boost PCB needs the following parts.

# Quantity Reference(s) Value Link
27 1 C4 47nF/35V Link
28 1 Q1 TK1R4S04PB Link
29 1 R7 0,005/1W Link
30 1 R9 95.3k Link
31 1 RV1 V27ZA2P Link
32 1 U1 LTC4359-MS8 Link

19V

Additionally, the 19V Buck-Boost PCB needs the following parts.

# Quantity Reference(s) Value Link
27 1 JP1 Jumper Link
28 1 R7 0,008/1W Link
29 1 R9 165k Link

3D Printing

In order to assemble the robot, you need to 3D print the following parts that are located here.

File Xavier Orin Wall Thickness Infill Percentage Quantity
battery holder X X 1.2 mm 25 % 1
base audio front left X X 1.2 mm 25 % 1
base audio front right X X 1.2 mm 25 % 1
base audio back left X X 1.2 mm 25 % 1
base audio back right X X 1.2 mm 25 % 1
base mic X X 1.2 mm 25 % 4
base gear 1 X X 1.2 mm 25 % 1
base gear 2 X X 1.2 mm 25 % 1
base gear 3 X X 1.2 mm 25 % 1
base gear 4 X X 1.2 mm 25 % 1
torso bottom external 1 X X 1.2 mm 25 % 1
torso bottom external 2 X X 1.2 mm 25 % 1
torso bottom external 3 X X 1.2 mm 25 % 1
torso bottom internal xavier X 2.0 mm 35 % 1
torso bottom internal orin X 2.0 mm 35 % 1
torso bottom holder X X 1.2 mm 25 % 3
limit switch bracket X X 1.2 mm 25 % 1
stewart stand X X 1.2 mm 25 % 3
gear servo bracket X X 1.2 mm 25 % 1
torso bottom gear X X 1.2 mm 25 % 1
torso bottom magnet bracket X X 1.2 mm 25 % 1
stewart bottom 1 X X 1.2 mm 25 % 1
stewart bottom 2 X X 1.2 mm 25 % 1
stewart bottom 3 X X 1.2 mm 25 % 1
stewart horn left M3 X X 1.2 mm 25 % 1
stewart horn left M2.5 X X 1.2 mm 25 % 2
stewart horn right M3 X X 1.2 mm 25 % 1
stewart horn right M2.5 X X 1.2 mm 25 % 2
USB hub bracket X X 1.2 mm 25 % 4
stewart top X X 1.2 mm 25 % 1
head X X 1.2 mm 25 % 1
head cable protector X X 1.2 mm 25 % 1

CNC/Laser Cutting

In order to assemble the robot, you need to cut the following parts out of 6 mm acrylic. The files are located here.

File Material Thickness Quantity Notes
base disk Acrylic 6 mm 1 The counterboring depth is 4 mm.