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, Lifting Frame & Power Supply + Arms & Head Pan-Tilt) |
990 |
7132.57 |
AhaRobot (Computing & Computing Power Supply) |
1124 |
8098 |
RobotPilot Teleoperation |
33 |
239 |
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Base, Lifting Frame & Power Supply
Part Name |
Qty. |
Unit Price (RMB) |
Purchase Link |
Notes |
|---|---|---|---|---|
Chassis |
||||
Aluminum Profile MISUMI LCF8-3030-500.0- Z8-XA15.0-XB235.0- XC265.0-XD485.0- YA120.0-YB205.0- YC295.0-YD380.0 |
2 |
22.6 |
Chassis horizontal profile |
|
Aluminum Profile MISUMI LCF8-3030-380.0-TPW |
2 |
11.59 |
Chassis longitudinal profile |
|
Aluminum Profile MISUMI LCF8-3060-380.0-TPW |
1 |
18.48 |
Chassis longitudinal profile |
|
Computer Frame |
||||
Aluminum Profile MISUMI LCF8-3030-230.0-TPW |
2 |
8.2 |
Computer frame vertical profile |
|
Aluminum Profile MISUMI LCF8-3030-290.0- Z8-XA15.0-XB275.0- YA130.0-YB160.0 |
1 |
13.33 |
Computer frame horizontal profile |
|
Aluminum Profile MISUMI LCF8-3060-260.0-TPW |
1 |
13.59 |
Computer frame longitudinal profile (rail reinforcement bracket) |
|
Socket Head Cap Screw M8*30 |
=8+4+2+6 |
=8.79/50 |
For interconnecting 3030 profiles |
|
Rail Mounting Components |
||||
Aluminum Profile MISUMI LCF8-30120-330.0- TPW-Z8-YA15.0 |
2 |
48.43 |
Rail vertical support |
|
Aluminum Profile MISUMI LCF8-3060-90.0-TPW |
1 |
11.42 |
Rail connecting block (middle) |
|
Aluminum Profile MISUMI LCF8-3060-60.0-TPW |
1 |
5.46 |
Rail connecting block (top) (head camera mount), electrical installation bracket |
|
Flat Aluminum Corner Bracket 3060 Type-4 Holes |
=6+2 |
2.6 |
For connecting rails to profiles, and chassis to 30120 profiles |
|
Socket Head Cap Screw M6*12 |
=6*4+2*4 |
=2.83/50 |
For connecting flat aluminum corner brackets to profiles and rails |
|
T-Nut European Standard 30M6 |
=6*2+2*4 |
=2.49/50 |
For connecting flat aluminum corner brackets to profiles |
|
Lifting Rails |
||||
Slide Module GT45-1200-with 57115 Stepper Motor-Left Side Motor Mount-with Photoelectric Switch |
1 |
=510+80+25 |
Lifting rail 510 is the price for rail + motor 80 is the upgrade fee to 57115 motor 25 is the price for photoelectric switch |
|
Slide Module GT45-1200-with 57115 Stepper Motor-Right Side Motor Mount-with Photoelectric Switch |
1 |
=510+80+25 |
Lifting rail |
|
Stepper Motor Driver DM542 |
2 |
=85 |
||
ESP32 Module |
2 |
20 |
Responsible for forwarding USB-TTL signals to stepper motor drivers |
|
ESP32 Breakout Board |
2 |
8.5 |
For wire connections |
|
Drive Wheels |
||||
Hub/Scooter Brushless Motor HB-139 |
2 |
218.4 |
||
HB-139 Brushless Motor Front Fork Bracket |
2 |
24.36 |
||
Caster Wheel 5 inch |
1 |
=45.9/4 |
||
Socket Head Cap Screw M6*12 |
8 |
=2.83/50 |
For connecting motor brackets/ caster wheels to frame |
|
T-Nut European Standard 30M6 |
8 |
=2.49/50 |
For connecting motor brackets/ caster wheels to frame |
|
Dual Brushless Motor Driver Board ODrive 3.6 |
1 |
275.99 |
||
Terminal Blocks |
10 |
=58/50 |
||
Dupont Wire Male to Male 15cm |
1 |
2.25 |
For connecting motor Hall sensor wires to ODrive |
|
Camera Pan-Tilt |
||||
Socket Head Cap Screw M8*16 |
2 |
=9.35/20 |
For connecting head camera bracket to rail |
|
Power Supply |
||||
24V Battery and Charger |
1 |
384 |
Includes 3A Charger |
|
24V to 12V Power Module |
1 |
98 |
||
Emergency Stop Switch with Housing |
1 |
21.7 |
||
Silicone Wire Red 14AWG |
5 |
2.81 |
||
Silicone Wire Black 14AWG |
5 |
2.81 |
||
XT30 Male/Female Connectors |
3 |
=44.17/20 |
||
Terminal Blocks |
2 |
=24.3/10 |
Arms & Head Pan-Tilt
Part Name |
Qty. |
Unit Price (RMB) |
Purchase Link |
Notes |
|---|---|---|---|---|
Arms |
||||
Profile MISUMI LCF6-2040-300.0 |
2 |
6.87 |
Upper arm link |
|
Profile MISUMI LCF6-2040-200.0 |
2 |
4.62 |
Lower arm link |
|
T-Nut European Standard 20M5 |
=6*7*2 |
=2.6/5 |
For connecting profiles to structural components |
|
Socket Head Cap Screw M5*12 |
=6*7*2 |
=4.2/50 |
For connecting profiles to structural components |
|
Rail Slider MGN7C2R200 |
4 |
37.8 |
Linear rail for hand gripper opening/closing |
|
Thrust needle roller bearing AXK2035 |
8 |
=8/5 |
Used for spacing between servo and the next structural component |
|
(Optional) PETG-CF Filament |
3 |
68 |
Using PETG-CF filament can significantly improve structural component strength |
|
Magnetic Encoder Bus Servo Feetech STS3215 |
=12*2+2 |
110 |
For two arms and head camera pan-tilt Prone to damage, recommend purchasing extras as spares |
|
Phillips Countersunk Screw M2*6 |
=26*4 |
=3.2/100 |
For connecting servos to 3D printed structural components |
|
Servo Communication Board WaveShare Servo Driver with ESP32 |
3 |
77 |
Responsible for converting between our defined protocol and servo protocol For two arms and head camera pan-tilt |
|
Data Cable USB2.0 Type-C to Type-A 1.5m |
3 |
2.5 |
For two arms and head camera pan-tilt |
|
Power Cable DC5521 Male Connector 2m Thickened |
3 |
7 |
For two arms and head camera pan-tilt |
|
USB Camera Hikvision |
3 |
120 |
For top camera and two hand cameras |
|
Cable Management Sleeve 16mm Diameter 10m Length |
1 |
11.46 |
For arm cable management |
|
UGREEN USB3.0 Hub |
2 |
26.2 |
Recommend choosing the same model, some hubs have compatibility issues |
|
UGREEN USB3.0 Extension Cable 2m |
2 |
26.76 |
||
Nano Tape |
1 |
5.3 |
Computing & Computing Power Supply
Part Name |
Qty. |
Unit Price (RMB) |
Purchase Link |
Notes |
|---|---|---|---|---|
ITX PC (RTX 5060) |
1 |
5999 |
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 600Plus 220V 800W Portable Power Station |
1 |
2099 |
For powering the main computer |
Teleoperation
Part Name |
Qty. |
Unit Price (RMB) |
Purchase Link |
Notes |
|---|---|---|---|---|
Acrylic Board |
1 |
12.6 |
For mounting pedals |
|
Pedal Hall Effect |
4 |
16.5 |
For controlling robot forward/backward/ left/right movement |
|
ESP32 Module |
1 |
20 |
For collecting Hall sensor data from pedal switches |
|
ESP32 Breakout Board |
1 |
8.5 |
||
Data Cable USB2.0 Type-C to Type-A 1.5m |
1 |
2.5 |
||
(Optional) Camera |
1 |
130 |
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 Related |
Hint: You can choose to purchase pre-printed parts from us, no need to print yourself |
|||
(Optional) Bambu Lab P1P 3D Printer Refurbished |
1 |
3146 |
Not recommended to use A1 or 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 P1 0.4mm Hardened Steel Nozzle |
1 |
89.1 |
PETG-CF material printing requires hardened steel nozzle |
|
(Optional) Bed Adhesive LAC Spray Glue |
1 |
17 |
Recommended to prevent warping |
|
(Optional) Budget Soldering Iron |
1 |
22.9 |
For pressing in heat-set inserts Simplest one is sufficient, this iron will only be used for inserting screws |
|
Assembly Related |
||||
Screwdriver Set |
1 |
43.5 |
||
Hex Key Set |
1 |
25.8 |
||
Needle-Nose Pliers/Locking Pliers |
1 |
5.9 |