Parts list
Desktop prototype: small bins, items under 150 g. $1,123.62 listed, not counting shipping or electronics.
Sketches, not to scale.
Arms
Bought parts
- Hiwonder xArm ESP32 assembledSourced
Two independent arms, each with controller, gripper, 7.5 V / 6 A supply and cables. Vendor claims up to 500 g; reach and payload curve need verification. A smaller desktop prototype, not the simulated metre-scale arm.
View listing (opens in a new tab)
Printed assemblies
- P01 · Bench-mounted arm baseCAD pending
Split base cover, cable exit, locating jig; structural adapter only after load review
Fit: Measure bought xArm base bolt pattern and ≈ 600 × 450 mm bench; clamps or through-bolts
Assembly brief (opens in a new tab) - P08 · FSR pad carriers for kit grippersCAD pending
Replaceable FSR pad carriers and sensor seats for the bought gripper fingers
Fit: Measure kit finger geometry and contact pads; adapt the gripper, do not redesign it
Assembly brief (opens in a new tab)
Vision
Bought parts
- RealSense D455 depth cameraSourced
RGB, depth and IMU; USB-C. Ideal range 0.6–6 m. Body 124 × 26 × 29 mm; 1/4-20 and M4 mounts. Verify coverage and included cable before designing the overhead mount.
View listing (opens in a new tab) - Adafruit 70 mm USB ring light · 5137Sourced
5 V / 1 A, 1 m cable. Start with one light; test coverage, shadows and heat. Power supply is separate.
View listing (opens in a new tab) - CAMVATE C1991 camera mountSourced
1/4-20 ball mount, 79.2 g. A printed adapter must match the chosen rail or mounting plate.
View listing (opens in a new tab)
Printed assemblies
- P12 · Overhead camera/light mountCAD pending
Split extrusion clamp, pan/tilt or fixed angle bracket, camera adapter, light clips, cable relief
Fit: D455 lens ≈ 650 mm above bench; source ≥ 800 mm uprights and measure mount/FOV/slot
Assembly brief (opens in a new tab)
Touch & weighing
Bought parts
- Adafruit FSR contact strip · 166Sourced
Two pads per gripper. Analog resistive contact indication, not calibrated wrist force. Needs readout circuitry and per-pad calibration; 60.4 × 18.33 × 0.56 mm.
View listing (opens in a new tab) - ≤ 1 kg load cell (replacement needed)Needs re-sourcing
For ≤ 150 g items, find a ≤ 1 kg cell with verified resolution and drawing (e.g. Phidgets 3132_0, 0–780 g; listing not verified). Previous 20 kg 3134_0 listing is not selected. Keep an isolated load path and overload stops.
Previous listing (opens in a new tab) - PhidgetBridge 1046_1Sourced
Four-input USB bridge for the load cell. Requires Mini-B cable and host driver; not a wrist sensor.
View listing (opens in a new tab)
Printed assemblies
- P13 · Weighing platform assemblyCAD pending
Upper tray, lower fixture, load-cell spacers, adjustable overload-stop carriers, cable cover
Fit: Exact load-cell drawing, rated load/direction, deflection/stop gap; no parasitic load path
Assembly brief (opens in a new tab)
Bench & frame
Bought parts
- 2040 extrusion · two 450 mm railsNeeds re-sourcing
D455 lens must sit about 650 mm above the bench to clear its ~0.6 m ideal minimum depth range. Previous 2 × 450 mm rail listing is too short; source ≥ 800 mm 2040 uprights and match slot/brackets.
Previous listing (opens in a new tab) - 2020/2040 corner hardware · 40 setsNeeds re-sourcing
40 brackets plus M5 T-nuts, screws and washers. Seller claims a 6 mm slot. Match the actual extrusion; quantity depends on the frame.
Previous listing (opens in a new tab) - M3/M4 insert and screw assortmentNeeds re-sourcing
200-piece set for printed fixtures. Verify insert drawings and dimension order; print fit coupons first.
Previous listing (opens in a new tab)
Printed assemblies
- P14 · Bin and bench fixturesCAD pending
Bin locators, dividers, removable receiving trays, label/fiducial holders
Fit: Mini source bin ≈ 250 × 180 × 100 mm, bench ≈ 600 × 450 mm; measure actual bins and arm reach
Assembly brief (opens in a new tab)
Electronics & safety
Bought parts
- Low-current connector assortmentNeeds re-sourcing
230-piece set advertised as JST-XH 2.54 mm. Verify actual pitch and mating housings. Signal wiring only; not servo power.
Previous listing (opens in a new tab) - 22 mm twist-release E-stopNeeds re-sourcing
Displayed price; exact 2NC/non-LED variant not locked. Only a switch candidate: relay/disconnect, fusing and stop behavior still need design.
Previous listing (opens in a new tab)
Printed assemblies
- P15 · Controller enclosure assemblyCAD pending
Base, lid, board standoffs, connector panel, fan/filter bracket, cable glands
Fit: PCB dimensions, connector access, cooling and low-voltage wiring; mains components retain suitable bought enclosure
Assembly brief (opens in a new tab) - P16 · Harness accessoriesCAD pending
Joint cable guides, hose clips, strain relief, drag-chain end brackets
Fit: Cable/bundle diameter, bend radius, moving clearance
Assembly brief (opens in a new tab) - P18 · Calibration/fit couponsCAD pending
Hole/insert coupons, servo/horn fit gauge, bearing-fit coupon, fiducial mounts, gripper gauge
Fit: Printer/material, purchased insert/bearing and measured fit
Assembly brief (opens in a new tab)
Later: 20-gallon totesNeeds arms with 850 mm+ reach and 3–5 kg payload.
Totes about 760 × 510 × 410 mm, items up to 2 kg.
Arms
Bought parts
- Hiwonder LX-225 bus servoDeferred to tote cell
6–8.4 V, position/temperature/voltage feedback. 25 kg·cm maximum, 4 A stall; continuous torque unknown. Optional spare or light custom module, not an extra kit requirement.
View listing (opens in a new tab) - Hiwonder HTD-35H bus servoDeferred to tote cell
9–12.6 V; 35 kg·cm static maximum, 3 A stall. Different power rail from LX-225. Do not use the kit supply or assume a continuous torque rating.
View listing (opens in a new tab) - Hiwonder serial bus controllerDeferred to tote cell
Separate controller for custom Hiwonder modules. TTL serial is not RS-485 or CAN. Assembled kits already include controllers.
View listing (opens in a new tab) - Lynxmotion GRPA-KT gripper with servoDeferred to tote cell
Optional finger-development fixture. 1.875-inch opening; mounting pattern, voltage and current need verification. Do not buy as a duplicate of the kit gripper.
View listing (opens in a new tab) - WLKATA MT4 education kitDeferred to tote cell
359 mm workspace, 500 g standard / 600 g maximum vendor claim, gripper and pneumatic accessories. Two-arm availability not established.
View listing (opens in a new tab) - M100RAK V4 arm kitDeferred to tote cell
640 mm horizontal reach, about 1 kg vendor claim. Includes geared servos and structure; controller, PSU and gripper excluded. STEP files available.
View listing (opens in a new tab) - UFACTORY 850Deferred to tote cell
850 mm reach, 5 kg vendor payload, 20 kg arm. Absolute encoders and control box; gripper separate. Closer to the simulated scale, but an industrial budget and no confirmed pair in stock.
View listing (opens in a new tab)
Printed assemblies
- P02 · Shoulder joint module, custom-arm branch onlyDeferred to tote cell
Bearing carrier/yoke, actuator cover, cable guard, assembly jig
Fit: Motor flange, metal horn, shaft/bearing fit, torque and bearing loads
Assembly brief (opens in a new tab) - P03 · Upper arm, custom-arm branch onlyDeferred to tote cell
Left/right shell or ribbed link halves, access cover, cable clips
Fit: Joint centres, selected length, joint interfaces, load/deflection budget
Assembly brief (opens in a new tab) - P04 · Elbow module, custom-arm branch onlyDeferred to tote cell
Yoke, bearing carrier, cover and harness exit
Fit: Motor/horn/bearing interfaces, motion range and cable sweep
Assembly brief (opens in a new tab) - P05 · Forearm, custom-arm branch onlyDeferred to tote cell
Link halves, access hatch, sensor cable guides
Fit: Joint centres, wrist interface, tool/arm mass budget
Assembly brief (opens in a new tab) - P06 · Wrist/sensor adapter (later)Deferred to tote cell
Sensor carrier, cable restraint, protective shell; metal load-path plate if required
Fit: Wrist bolt circle, sensor drawing, load directions and overload clearance
Assembly brief (opens in a new tab) - P07 · Manual tool interfaceDeferred to tote cell
Keyed mating adapter, alignment feature, removable latch cover, connector bracket
Fit: Exact wrist/tool pattern; bought retention pins/fasteners; no unverified automatic changer
Assembly brief (opens in a new tab) - P09 · Suction tool assemblyDeferred to tote cell
Cup manifold/bracket, pressure sensor holder, hose guide and strain relief
Fit: Cup thread/barb, hose OD/ID, sensor ports, valve/pump location
Assembly brief (opens in a new tab) - P10 · Enveloping gripper assemblyDeferred to tote cell
Palm, segmented fingers/linkages, pivots/pad carriers, actuator guard
Fit: Mechanism choice, force range, hard stops, bought pivots/bearings
Assembly brief (opens in a new tab) - P11 · Tool parking rackDeferred to tote cell
Separate nests, keyed locating inserts, drip/dust tray, labels
Fit: Tool envelope, retention features and reachable dock poses
Assembly brief (opens in a new tab)
Vision
Bought parts
- Adafruit VL53L1X distance sensor · 3967Deferred to tote cell
Optional short-range approach feedback over I2C. Supplemental to the camera; reflective and transparent surfaces need testing.
View listing (opens in a new tab)
Electronics & safety
Bought parts
- SparkFun ROB-10398 vacuum pumpDeferred to tote cell
Optional 12 V / 12 W pump. Needs a separate supply, switch/flyback protection, release valve, hose and fittings.
View listing (opens in a new tab) - Lynxmotion F15-SIT vacuum cupDeferred to tote cell
Optional fit experiment; inspected page did not establish connection dimensions or lift rating. Do not freeze the printed mating interface yet.
View listing (opens in a new tab) - Adafruit MPRLS pressure sensor · 3965Deferred to tote cell
I2C, 0–25 PSI absolute; 2.5 mm port. Needs matching tubing and tee. Pressure trend supports seal checks but does not prove retention.
View listing (opens in a new tab)
Printed assemblies
- P17 · Bench compute accessoriesDeferred to tote cell
Cable-management cradle and removable accessory bracket
Fit: Actual DGX Spark/enclosure footprint and airflow keep-outs; do not enclose or obstruct stock cooling
Assembly brief (opens in a new tab)