Get Your Parts ============== This section lists all the parts required to build the AhaRobot. The list is organized by structure, motors/sensors, and electrical components. Reminder: - All materials can be purchased on Taobao. Aluminum profiles use MISUMI part numbers and can be purchased from online stores like JLC FA. - For connecting components such as corner brackets, T-nuts, screws, and nuts, it is recommended to **buy extras** as spares. - Some materials are sold in units other than individual pieces. Unit prices may be shown as =group price/quantity per group. Total Cost ---------- +----------------------+----------------+----------------+ | Item | Total (USD) | Total (RMB) | +======================+================+================+ | AhaRobot (Base, | **990** | 7132.57 | | Lifting Frame & | | | | Power Supply + Arms | | | | & Head Pan-Tilt) | | | +----------------------+----------------+----------------+ | AhaRobot (Computing &| 1124 | 8098 | | Computing Power | | | | Supply) | | | +----------------------+----------------+----------------+ | RobotPilot | **33** | 239 | | Teleoperation | | | +----------------------+----------------+----------------+ Having Trouble Procuring Parts? ------------------------------- Our sales team is offering parts packages at cost price - you only need to pay additional shipping and taxes. Contact sales: anonymized Base, Lifting Frame & Power Supply ---------------------------------- +----------------------+----------+------------------+------------------+------------------+ | Part Name | Qty. | Unit Price (RMB) | Purchase Link | Notes | +======================+==========+==================+==================+==================+ | *Chassis* | | | | | +----------------------+----------+------------------+------------------+------------------+ | Aluminum Profile | 2 | 22.6 | `JLC Model`_ | Chassis | | MISUMI | | | | horizontal | | LCF8-3030-500.0- | | | | profile | | Z8-XA15.0-XB235.0- | | | | | | XC265.0-XD485.0- | | | | | | YA120.0-YB205.0- | | | | | | YC295.0-YD380.0 | | | | | +----------------------+----------+------------------+------------------+------------------+ | Aluminum Profile | 2 | 11.59 | `JLC Model`_ | Chassis | | MISUMI | | | | longitudinal | | LCF8-3030-380.0-TPW | | | | profile | +----------------------+----------+------------------+------------------+------------------+ | Aluminum Profile | 1 | 18.48 | `JLC Model`_ | Chassis | | MISUMI | | | | longitudinal | | LCF8-3060-380.0-TPW | | | | profile | +----------------------+----------+------------------+------------------+------------------+ | *Computer Frame* | | | | | +----------------------+----------+------------------+------------------+------------------+ | Aluminum Profile | 2 | 8.2 | `JLC Model`_ | Computer frame | | MISUMI | | | | vertical profile | | LCF8-3030-230.0-TPW | | | | | +----------------------+----------+------------------+------------------+------------------+ | Aluminum Profile | 1 | 13.33 | `JLC Model`_ | Computer frame | | MISUMI | | | | horizontal | | LCF8-3030-290.0- | | | | profile | | Z8-XA15.0-XB275.0- | | | | | | YA130.0-YB160.0 | | | | | +----------------------+----------+------------------+------------------+------------------+ | Aluminum Profile | 1 | 13.59 | `JLC Model`_ | Computer frame | | MISUMI | | | | longitudinal | | LCF8-3060-260.0-TPW | | | | profile (rail | | | | | | reinforcement | | | | | | bracket) | +----------------------+----------+------------------+------------------+------------------+ | Socket Head Cap | =8+4+2+6 | =8.79/50 | `M8*30 Socket`_ | For | | Screw M8*30 | | | | interconnecting | | | | | | 3030 profiles | +----------------------+----------+------------------+------------------+------------------+ | *Rail Mounting | | | | | | Components* | | | | | +----------------------+----------+------------------+------------------+------------------+ | Aluminum Profile | 2 | 48.43 | `JLC Model`_ | Rail vertical | | MISUMI | | | | support | | LCF8-30120-330.0- | | | | | | TPW-Z8-YA15.0 | | | | | +----------------------+----------+------------------+------------------+------------------+ | Aluminum Profile | 1 | 11.42 | `JLC Model`_ | Rail connecting | | MISUMI | | | | block (middle) | | LCF8-3060-90.0-TPW | | | | | +----------------------+----------+------------------+------------------+------------------+ | Aluminum Profile | 1 | 5.46 | `JLC Model`_ | Rail connecting | | MISUMI | | | | block (top) | | LCF8-3060-60.0-TPW | | | | (head camera | | | | | | mount), | | | | | | electrical | | | | | | installation | | | | | | bracket | +----------------------+----------+------------------+------------------+------------------+ | Flat Aluminum Corner | =6+2 | 2.6 | `3060 Type-4`_ | For connecting | | Bracket 3060 Type-4 | | | | rails to | | Holes | | | | profiles, and | | | | | | chassis to 30120 | | | | | | profiles | +----------------------+----------+------------------+------------------+------------------+ | Socket Head Cap | =6*4+2*4 | =2.83/50 | `M6*12 Socket`_ | For connecting | | Screw M6*12 | | | | flat aluminum | | | | | | corner brackets | | | | | | to profiles and | | | | | | rails | +----------------------+----------+------------------+------------------+------------------+ | T-Nut European | =6*2+2*4 | =2.49/50 | `European | For connecting | | Standard 30M6 | | | Standard 30M6`_ | flat aluminum | | | | | | corner brackets | | | | | | to profiles | +----------------------+----------+------------------+------------------+------------------+ | *Lifting Rails* | | | | | +----------------------+----------+------------------+------------------+------------------+ | Slide Module | 1 | =510+80+25 | `Contact store`_ | Lifting rail | | GT45-1200-with | | | | 510 is the price | | 57115 Stepper | | | | for rail + motor | | Motor-Left Side | | | | 80 is the | | Motor Mount-with | | | | upgrade fee to | | Photoelectric Switch | | | | 57115 motor | | | | | | 25 is the price | | | | | | for | | | | | | photoelectric | | | | | | switch | +----------------------+----------+------------------+------------------+------------------+ | Slide Module | 1 | =510+80+25 | `Contact store`_ | Lifting rail | | GT45-1200-with | | | | | | 57115 Stepper | | | | | | Motor-Right Side | | | | | | Motor Mount-with | | | | | | Photoelectric Switch | | | | | +----------------------+----------+------------------+------------------+------------------+ | Stepper Motor | 2 | =85 | `DM542`_ | | | Driver DM542 | | | | | +----------------------+----------+------------------+------------------+------------------+ | ESP32 Module | 2 | 20 | `ESP32 Module`_ | Responsible for | | | | | | forwarding | | | | | | USB-TTL signals | | | | | | to stepper motor | | | | | | drivers | +----------------------+----------+------------------+------------------+------------------+ | ESP32 Breakout Board | 2 | 8.5 | `ESP32 | For wire | | | | | Breakout Board`_ | connections | +----------------------+----------+------------------+------------------+------------------+ | *Drive Wheels* | | | | | +----------------------+----------+------------------+------------------+------------------+ | Hub/Scooter | 2 | 218.4 | `139 Motor`_ | | | Brushless Motor | | | | | | HB-139 | | | | | +----------------------+----------+------------------+------------------+------------------+ | HB-139 Brushless | 2 | 24.36 | `105 139 | | | Motor Front Fork | | | Bracket`_ | | | Bracket | | | | | +----------------------+----------+------------------+------------------+------------------+ | Caster Wheel 5 inch | 1 | =45.9/4 | `5 inch 4 | | | | | | pieces`_ | | +----------------------+----------+------------------+------------------+------------------+ | Socket Head Cap | 8 | =2.83/50 | `M6*12 Socket`_ | For connecting | | Screw M6*12 | | | | motor brackets/ | | | | | | caster wheels to | | | | | | frame | +----------------------+----------+------------------+------------------+------------------+ | T-Nut European | 8 | =2.49/50 | `European | For connecting | | Standard 30M6 | | | Standard 30M6`_ | motor brackets/ | | | | | | caster wheels to | | | | | | frame | +----------------------+----------+------------------+------------------+------------------+ | Dual Brushless Motor | 1 | 275.99 | `ODrive Main | | | Driver Board ODrive | | | Board Kit`_ | | | 3.6 | | | | | +----------------------+----------+------------------+------------------+------------------+ | Terminal Blocks | 10 | =58/50 | `1 In 1 Out`_ | | +----------------------+----------+------------------+------------------+------------------+ | Dupont Wire Male to | 1 | 2.25 | `Dupont Wire`_ | For connecting | | Male 15cm | | | | motor Hall | | | | | | sensor wires to | | | | | | ODrive | +----------------------+----------+------------------+------------------+------------------+ | *Camera Pan-Tilt* | | | | | +----------------------+----------+------------------+------------------+------------------+ | Socket Head Cap | 2 | =9.35/20 | `M8*16(20 | For connecting | | Screw M8*16 | | | pieces)`_ | head camera | | | | | | bracket to rail | +----------------------+----------+------------------+------------------+------------------+ | *Power Supply* | | | | | +----------------------+----------+------------------+------------------+------------------+ | 24V Battery and | 1 | 384 | `20000mah`_ | Includes 3A | | Charger | | | | Charger | +----------------------+----------+------------------+------------------+------------------+ | 24V to 12V Power | 1 | 98 | `24V to 12V | | | Module | | | 30A`_ | | +----------------------+----------+------------------+------------------+------------------+ | Emergency Stop | 1 | 21.7 | `Two Normally | | | Switch with Housing | | | Closed`_ | | +----------------------+----------+------------------+------------------+------------------+ | Silicone Wire Red | 5 | 2.81 | `Red; 14AWG`_ | | | 14AWG | | | | | +----------------------+----------+------------------+------------------+------------------+ | Silicone Wire Black | 5 | 2.81 | `Black; 14AWG`_ | | | 14AWG | | | | | +----------------------+----------+------------------+------------------+------------------+ | XT30 Male/Female | 3 | =44.17/20 | `Male + Female | | | Connectors | | | pair`_ | | +----------------------+----------+------------------+------------------+------------------+ | Terminal Blocks | 2 | =24.3/10 | `Two In Eight | | | | | | Out (10 piece`_ | | +----------------------+----------+------------------+------------------+------------------+ .. _JLC Model: https://www.jlcfa.com/serial/1874267829433.html .. _M8*30 Socket: https://item.taobao.com/item.htm?id=677609425745 .. _3060 Type-4: https://item.taobao.com/item.htm?id=712704506157 .. _M6*12 Socket: https://item.taobao.com/item.htm?id=677609425745 .. _European Standard 30M6: https://item.taobao.com/item.htm?id=720521078724 .. _Contact store: https://item.taobao.com/item.htm?id=802774996256 .. _DM542: https://item.taobao.com/item.htm?id=669382647038 .. _ESP32 Module: https://item.taobao.com/item.htm?id=724748055478 .. _ESP32 Breakout Board: https://item.taobao.com/item.htm?id=733001815772 .. _139 Motor: https://item.taobao.com/item.htm?id=701653320007 .. _105 139 Bracket: https://item.taobao.com/item.htm?id=587475331040 .. _5 inch 4 pieces: https://detail.tmall.com/item.htm?id=770033791115 .. _ODrive Main Board Kit: https://item.taobao.com/item.htm?id=639775367063 .. _1 In 1 Out: https://detail.tmall.com/item.htm?id=590903881715 .. _Dupont Wire: https://item.taobao.com/item.htm?id=14466195609 .. _M8*16(20 pieces): https://detail.tmall.com/item.htm?id=689262276790 .. _20000mah: https://item.taobao.com/item.htm?id=616044134291 .. _24V to 12V 30A: https://item.taobao.com/item.htm?id=535067252604 .. _Two Normally Closed: https://item.taobao.com/item.htm?id=730119104580 .. _Red; 14AWG: https://item.taobao.com/item.htm?id=14644636268 .. _Black; 14AWG: https://item.taobao.com/item.htm?id=14644636268 .. _Male + Female pair: https://item.taobao.com/item.htm?id=659716943835 .. _Two In Eight Out (10 piece: https://detail.tmall.com/item.htm?id=703555215026 Arms & Head Pan-Tilt -------------------- +----------------------+----------+------------------+------------------+------------------+ | Part Name | Qty. | Unit Price (RMB) | Purchase Link | Notes | +======================+==========+==================+==================+==================+ | *Arms* | | | | | +----------------------+----------+------------------+------------------+------------------+ | Profile MISUMI | 2 | 6.87 | `JLC Model | Upper arm link | | LCF6-2040-300.0 | | | 2040`_ | | +----------------------+----------+------------------+------------------+------------------+ | Profile MISUMI | 2 | 4.62 | `JLC Model | Lower arm link | | LCF6-2040-200.0 | | | 2040`_ | | +----------------------+----------+------------------+------------------+------------------+ | T-Nut European | =6*7*2 | =2.6/5 | `European | For connecting | | Standard 20M5 | | | Standard 20M5`_ | profiles to | | | | | | structural | | | | | | components | +----------------------+----------+------------------+------------------+------------------+ | Socket Head Cap | =6*7*2 | =4.2/50 | `M5*12 Socket`_ | For connecting | | Screw M5*12 | | | | profiles to | | | | | | structural | | | | | | components | +----------------------+----------+------------------+------------------+------------------+ | Rail Slider | 4 | 37.8 | `MGN7C2R200`_ | Linear rail for | | MGN7C2R200 | | | | hand gripper | | | | | | opening/closing | +----------------------+----------+------------------+------------------+------------------+ | Thrust needle roller | 8 | =8/5 | `AXK2035`_ | Used for spacing | | bearing AXK2035 | | | | between servo | | | | | | and the next | | | | | | structural | | | | | | component | +----------------------+----------+------------------+------------------+------------------+ | (Optional) PETG-CF | 3 | 68 | `PETG-CF | Using PETG-CF | | Filament | | | Filament`_ | filament can | | | | | | significantly | | | | | | improve | | | | | | structural | | | | | | component | | | | | | strength | +----------------------+----------+------------------+------------------+------------------+ | Magnetic Encoder Bus | =12*2+2 | 110 | `STS3215`_ | For two arms | | Servo Feetech | | | | and head camera | | STS3215 | | | | pan-tilt | | | | | | Prone to damage, | | | | | | recommend | | | | | | purchasing | | | | | | extras as spares | +----------------------+----------+------------------+------------------+------------------+ | Phillips Countersunk | =26*4 | =3.2/100 | `M2*6 Phillips`_ | For connecting | | Screw M2*6 | | | | servos to 3D | | | | | | printed | | | | | | structural | | | | | | components | +----------------------+----------+------------------+------------------+------------------+ | Servo Communication | 3 | 77 | `WaveShare | Responsible for | | Board WaveShare | | | Servo Driver`_ | converting | | Servo Driver with | | | | between our | | ESP32 | | | | defined protocol | | | | | | and servo | | | | | | protocol | | | | | | For two arms | | | | | | and head camera | | | | | | pan-tilt | +----------------------+----------+------------------+------------------+------------------+ | Data Cable USB2.0 | 3 | 2.5 | `USB2.0 Type-C`_ | For two arms | | Type-C to Type-A | | | | and head camera | | 1.5m | | | | pan-tilt | +----------------------+----------+------------------+------------------+------------------+ | Power Cable | 3 | 7 | `DC5521 Male`_ | For two arms | | DC5521 Male | | | | and head camera | | Connector 2m | | | | pan-tilt | | Thickened | | | | | +----------------------+----------+------------------+------------------+------------------+ | USB Camera | 3 | 120 | `Hikvision`_ | For top camera | | Hikvision | | | | and two hand | | | | | | cameras | +----------------------+----------+------------------+------------------+------------------+ | Cable Management | 1 | 11.46 | `Cable | For arm cable | | Sleeve 16mm | | | Management`_ | management | | Diameter 10m Length | | | | | +----------------------+----------+------------------+------------------+------------------+ | UGREEN USB3.0 Hub | 2 | 26.2 | `UGREEN Hub`_ | Recommend | | | | | | choosing the | | | | | | same model, some | | | | | | hubs have | | | | | | compatibility | | | | | | issues | +----------------------+----------+------------------+------------------+------------------+ | UGREEN USB3.0 | 2 | 26.76 | `UGREEN | | | Extension Cable 2m | | | Extension`_ | | +----------------------+----------+------------------+------------------+------------------+ | Nano Tape | 1 | 5.3 | `Nano Tape`_ | | +----------------------+----------+------------------+------------------+------------------+ Computing & Computing Power Supply ---------------------------------- +----------------------+----------+------------------+------------------+------------------+ | Part Name | Qty. | Unit Price (RMB) | Purchase Link | Notes | +======================+==========+==================+==================+==================+ | ITX PC (RTX 5060) | 1 | 5999 | `ITX PC`_ | Can choose | | | | | | lower-spec | | | | | | computers like | | | | | | Raspberry Pi. | | | | | | This | | | | | | configuration | | | | | | considers | | | | | | running models | | | | | | locally, so uses | | | | | | better specs | | | | | | (can also do | | | | | | remote | | | | | | inference) | +----------------------+----------+------------------+------------------+------------------+ | Jackery Explorer | 1 | 2099 | `Jackery | For powering the | | 600Plus 220V 800W | | | Explorer`_ | main computer | | Portable Power | | | | | | Station | | | | | +----------------------+----------+------------------+------------------+------------------+ Teleoperation ------------- +----------------------+----------+------------------+------------------+------------------+ | Part Name | Qty. | Unit Price (RMB) | Purchase Link | Notes | +======================+==========+==================+==================+==================+ | Acrylic Board | 1 | 12.6 | `Acrylic Board`_ | For mounting | | | | | | pedals | +----------------------+----------+------------------+------------------+------------------+ | Pedal Hall Effect | 4 | 16.5 | `Pedal Hall | For controlling | | | | | Effect`_ | robot | | | | | | forward/backward/| | | | | | left/right | | | | | | movement | +----------------------+----------+------------------+------------------+------------------+ | ESP32 Module | 1 | 20 | `ESP32 Module`_ | For collecting | | | | | | Hall sensor data | | | | | | from pedal | | | | | | switches | +----------------------+----------+------------------+------------------+------------------+ | ESP32 Breakout Board | 1 | 8.5 | `ESP32 | | | | | | Breakout Board`_ | | +----------------------+----------+------------------+------------------+------------------+ | Data Cable USB2.0 | 1 | 2.5 | `USB2.0 Type-C`_ | | | Type-C to Type-A | | | | | | 1.5m | | | | | +----------------------+----------+------------------+------------------+------------------+ | (Optional) Camera | 1 | 130 | `Hikvision`_ | Teleoperation | | | | | | precision | | | | | | depends on | | | | | | camera | | | | | | resolution | | | | | | Also, if your | | | | | | computer has a | | | | | | built-in camera, | | | | | | you may not need | | | | | | to purchase this | +----------------------+----------+------------------+------------------+------------------+ Tools ----- +----------------------+----------+------------------+------------------+------------------+ | Part Name | Qty. | Unit Price (RMB) | Purchase Link | Notes | +======================+==========+==================+==================+==================+ | *3D Printing | | | | Hint: You can | | Related* | | | | choose to | | | | | | purchase | | | | | | pre-printed | | | | | | parts from us, | | | | | | no need to print | | | | | | yourself | +----------------------+----------+------------------+------------------+------------------+ | (Optional) Bambu Lab | 1 | 3146 | `Bambu Lab P1P`_ | Not recommended | | P1P 3D Printer | | | | to use A1 or | | Refurbished | | | | other i3 | | | | | | structure 3D | | | | | | printers, as i3 | | | | | | structure moves | | | | | | the object and | | | | | | can easily tip | | | | | | over when | | | | | | printing objects | | | | | | with high center | | | | | | of gravity | +----------------------+----------+------------------+------------------+------------------+ | (Optional) Bambu Lab | 1 | 89.1 | `Hardened Steel | PETG-CF material | | P1 0.4mm Hardened | | | Nozzle`_ | printing | | Steel Nozzle | | | | requires | | | | | | hardened steel | | | | | | nozzle | +----------------------+----------+------------------+------------------+------------------+ | (Optional) Bed | 1 | 17 | `LAC Spray | Recommended to | | Adhesive LAC Spray | | | Glue`_ | prevent warping | | Glue | | | | | +----------------------+----------+------------------+------------------+------------------+ | (Optional) Budget | 1 | 22.9 | `Soldering | For pressing in | | Soldering Iron | | | Iron`_ | heat-set inserts | | | | | | Simplest one is | | | | | | sufficient, this | | | | | | iron will only | | | | | | be used for | | | | | | inserting screws | +----------------------+----------+------------------+------------------+------------------+ | *Assembly Related* | | | | | +----------------------+----------+------------------+------------------+------------------+ | Screwdriver Set | 1 | 43.5 | `Screwdriver | | | | | | Set`_ | | +----------------------+----------+------------------+------------------+------------------+ | Hex Key Set | 1 | 25.8 | `Hex Key Set`_ | | +----------------------+----------+------------------+------------------+------------------+ | Needle-Nose | 1 | 5.9 | `Needle-Nose | | | Pliers/Locking | | | Pliers`_ | | | Pliers | | | | | +----------------------+----------+------------------+------------------+------------------+ .. _JLC Model 2040: https://www.jlcfa.com/serial/2021388190883.htm .. _European Standard 20M5: https://detail.tmall.com/item.htm?id=615760488508 .. _M5*12 Socket: https://detail.tmall.com/item.htm?id=636175026159 .. _MGN7C2R200: https://detail.tmall.com/item.htm?id=692620394964 .. _AXK2035: https://detail.tmall.com/item.htm?id=612254646912 .. _PETG-CF Filament: https://item.taobao.com/item.htm?id=711223264671 .. _STS3215: https://item.taobao.com/item.htm?id=677268765345 .. _M2*6 Phillips: https://detail.tmall.com/item.htm?id=674218625928 .. _WaveShare Servo Driver: https://item.taobao.com/item.htm?id=666784245057 .. _USB2.0 Type-C: https://item.taobao.com/item.htm?id=666044638506 .. _DC5521 Male: https://item.taobao.com/item.htm?id=600480775477 .. _Hikvision: https://item.taobao.com/item.htm?id=683102400308 .. _Cable Management: https://detail.tmall.com/item.htm?id=690474659453 .. _UGREEN Hub: https://item.jd.com/100002408530.html .. _UGREEN Extension: https://item.jd.com/100030171894.html .. _Nano Tape: https://detail.tmall.com/item.htm?id=597475825589 .. _ITX PC: https://item.jd.com/10102430771960.html .. _Jackery Explorer: https://item.jd.com/100114536672.html .. _Acrylic Board: https://detail.tmall.com/item.htm?id=727657476205 .. _Pedal Hall Effect: https://item.taobao.com/item.htm?id=671579255418 .. _Bambu Lab P1P: https://item.taobao.com/item.htm?id=750513679892 .. _Hardened Steel Nozzle: https://item.taobao.com/item.htm?id=694060799417 .. _LAC Spray Glue: https://item.taobao.com/item.htm?id=689241604694 .. _Soldering Iron: https://detail.tmall.com/item.htm?id=627026186123 .. _Screwdriver Set: https://detail.tmall.com/item.htm?id=714834540570 .. _Hex Key Set: https://detail.tmall.com/item.htm?id=681093621659 .. _Needle-Nose Pliers: https://detail.tmall.com/item.htm?id=43669290499