Preliminary BOM
To Order
Item | Cost | Quantity | Total Cost | Link | Rationale | Ordered? |
|---|---|---|---|---|---|---|
BeagleBone Black | 53.62 | 1 | 53.62 | Selected for relative cost and performance vs competitors, namely Raspberry Pi 5 and Nvidia Jetson platforms. Raspi 5 less expandable, Jetson more expensive by a factor of 4 or more. BeagleBone won’t cope with any onboard ML and will require some kind of cooling solution for the vision processing applications (prob airflow,) but we can cross that bridge when we come to it. | Yes | |
Slamtec RPLIDAR A1 | 99.95 | 1 | 99.95 | Low-mid tier LIDAR sensor with well-documented usage in ROS | Yes | |
IR Break Beam Sensors | 2.95 | 2 | 5.9 | Good to have in our back pocket-- many platforms that utilize LIDAR or similar vision processing applications for navigation/SLAM will also use a basic proximity solution below the “knee” or below seeing level to identify harder-to-detect low to the floor obstacles and avoid toppling over | Yes | |
Logitech C270 Webcam | 20 | 1 | 20 | For vision processing options on the visible light spectrum, i.e. apriltag identification and possible human factors research (not necessarily on our end but certainly important to support for an end-user). | Yes | |
BeagleBone Wireless Cape | 71.40 | 1 | 71.40 | BeagleBone Gateway Cape, Add-On Board, 2.4 & 5 GHz Dual-Band WiFi | Wireless cape in the BeagleBone ecosystem for remote control applications and remote access for development | Yes |
BeagleBone dummy cape | 30.00 | 1 | 30.00 | To intercept GPIO desired for sensor instead of motor use | Yes | |
3D Printer Filament | 25.99 | 1 | 25.99 | Blurple color for accent pieces | Yes | |
3D Printer Filament | 34.99 | 1 | 34.99 | Black filament for all purpose prints | Yes | |
LiPo Charger | 30 | 1 | 30 | It will charge. | Yes | |
LiPo Battery | 24.19 | 1 | 24.19 | It will zoom. | Yes | |
MD10C Motor Controller | 13.9 | 4 | 55.6 | Solid power reg. IC work here, inexpensive per-motor control cost, a little overspec-d for our motors which is perfect |
| |
12V → 5V step-down circuit | 4.98 | 1 | 4.98 | For converting battery power to BeagleBone and sensor output |
| |
Barrel Connector | 0.95 | 3 | 3.8 | For direct-powering BeagleBone |
| |
Terminal connector (WAGO 3-wire) | 7.83 | 1 | 7.83 | For power subsystem wiring (to 5v stepdown) | Yes | |
Terminal connector (WAGO 5-wire | 8.96 | 1 | 8.96 | For power subsystem wiring (to 12v motor controllers) | Yes | |
14AWG Wire | 16.88 | 1 | 16.88 | For power subsystem | Yes | |
20AWG Wire | 14.58 | 1 | 14.58 | For sensors, signal prototyping | Yes | |
TOT |
|
| 508.67 |
|
|
|
Work In Progress
Motor with attached relative encoders | 45 | 2 | 90 | For driving - theoretical top speed is 12.3 ft/s | |
Mountain board wheels | 17 | 2 | 34 | All Terrain Wheels Airless Tire (6.5Inch) - Vestar Skateboards | Large 6.5 in diameter will allow robot to zip around and go over bumps and cracks. Additionally, airless tires require less maintenance |
Hex shaft |
|
|
| https://www.gobilda.com/1516-series-8mm-rex-standoff-m4-x-0-7mm-threads-96mm-length-4-pack/ |
|
Torsion spring |
|
|
|
|
|
REX Bearings | 5.99 | 2 | 11.98 | https://www.gobilda.com/1611-series-flanged-ball-bearing-8mm-rex-id-x-14mm-od-5mm-thickness-2-pack/ | 2 pk |
Forearm pins |
|
|
| 54mm usable length | |
Clevis cotter pin |
|
|
| 10 pk | |
Forearm bushings |
|
|
|
| |
Wheels | 25 | 1 | 50 | https://www.gobilda.com/wasteland-wheel-144mm-diameter-52mm-width/ |
|
TOT |
|
|
|
|
|