# 1. Parts and Materials

BOM Link : <https://docs.google.com/spreadsheets/d/1GDxBS6ucfL-fw-ZQtKJndYl2ijbO_JREO6FNqKc-5tE/edit?gid=0#gid=0>

Hardware Files : <https://drive.google.com/drive/folders/1tw8U_9vJNH62akpPTpBVhS0iCqSftXE5?usp=sharing>

**The arm attachment plate is manufactured by** [**SendCutSend**](https://sendcutsend.com/?srsltid=AfmBOoqe8gDqVy-SR9D9ib74CQWq6QgBaG3dh7UmRSLre41PAuWpHRQO) **using 304 stainless steel with a thickness of 0.187 inches (4.7 mm). The Piper plate includes two 45° downward bends, while the Nero plate includes two 90° downward bends. Both plates have a matte black anodized finish.**

### Mechanical Components

<table><thead><tr><th width="328.800048828125">Component</th><th width="187.39990234375" align="center">Quantity</th><th>Notes</th></tr></thead><tbody><tr><td>3-inch MAX Swerve Drive Modules</td><td align="center">4</td><td>2 left-oriented, 2 right-oriented</td></tr><tr><td>Aluminum Extrusion – 2" × 1" × 6.5"</td><td align="center">2</td><td></td></tr><tr><td>Aluminum Extrusion – 2" × 1" × 10"</td><td align="center">2</td><td></td></tr><tr><td>Aluminum Extrusion – 2" × 1" × 15"</td><td align="center">2</td><td></td></tr><tr><td>Aluminum Extrusion – 2" × 1" × 4.75"</td><td align="center">8</td><td></td></tr><tr><td>Aluminum Extrusion – 1" × 1" × 17"</td><td align="center">2</td><td></td></tr><tr><td>Aluminum Extrusion – 1" × 1" × 11.5"</td><td align="center">2</td><td></td></tr><tr><td>90° Aluminum Clamps</td><td align="center">As required</td><td></td></tr><tr><td>Interior L-Shape Corner Connectors</td><td align="center">As required</td><td></td></tr><tr><td>T-Clamps</td><td align="center">As required</td><td></td></tr><tr><td>T-Plates</td><td align="center">As required</td><td></td></tr><tr><td>M4 x 25 mm Screws</td><td align="center">10 Pack</td><td></td></tr><tr><td>M4 Nuts</td><td align="center">10 Pack</td><td></td></tr><tr><td>M5 × 10 mm Screws</td><td align="center">50 Pack</td><td></td></tr><tr><td>M5 Extrusion Nuts</td><td align="center">50 Pack</td><td></td></tr><tr><td>M5 x 25mm Hex nut</td><td align="center">10 Pack</td><td></td></tr><tr><td>M5 Lock Nuts</td><td align="center">10 Pack</td><td></td></tr><tr><td>M6 Screws</td><td align="center">50 Pack</td><td></td></tr><tr><td>M6 Nuts</td><td align="center">50 Pack</td><td></td></tr><tr><td>M6 Washers</td><td align="center">40 Pack</td><td></td></tr><tr><td>10-32 Screws</td><td align="center">20 Pack</td><td>Used for controller mounting</td></tr><tr><td>Flexispot E6 Dual-Motor Lift</td><td align="center">1</td><td></td></tr><tr><td>Lift Attachment Brackets (L-shaped)</td><td align="center">As required</td><td>Required for lift-to-frame mounting</td></tr><tr><td>Cable Carrier (Drag Chain)</td><td align="center">1</td><td>Required for moving lift cables</td></tr><tr><td>Piper Robotic Arms</td><td align="center">2</td><td></td></tr><tr><td>Arm Attachment Plate</td><td align="center">1</td><td></td></tr><tr><td>Dynamixel XL430 Motors</td><td align="center">2</td><td></td></tr><tr><td>Threadlocker (Loctite 243)</td><td align="center">1</td><td>Use on all metal-to-metal fasteners</td></tr><tr><td>Lithium Grease</td><td align="center">1</td><td>Apply to moving interfaces only</td></tr></tbody></table>

### Electrical Components

<table><thead><tr><th width="339.4000244140625">Component</th><th width="171.199951171875" align="center">Quantity</th><th>Notes</th></tr></thead><tbody><tr><td>24V 20Ah Lithium Battery + Charger</td><td align="center">1</td><td></td></tr><tr><td>Anderson Battery Connector</td><td align="center">1</td><td>Required for battery quick-disconnect</td></tr><tr><td>Power Distribution Board</td><td align="center">1</td><td></td></tr><tr><td>Fuse Box</td><td align="center">1</td><td>All high-current lines must be fused</td></tr><tr><td>Emergency Stop Switch</td><td align="center">1</td><td>Must cut main system power</td></tr><tr><td>24V → 24V, 6A DC-DC Converter</td><td align="center">2</td><td>Dedicated rails for lift and arms</td></tr><tr><td>24V → 12V DC-DC Converter</td><td align="center">1</td><td></td></tr><tr><td>24V → 5V, 5A DC-DC Converter</td><td align="center">1</td><td>Powers compute and low-level control</td></tr><tr><td>Motor Controllers with Flex Dock</td><td align="center">4</td><td>One per swerve module</td></tr><tr><td>CAN Bus Module</td><td align="center">1</td><td></td></tr><tr><td>Lift Motor Controller (BTS7960)</td><td align="center">1</td><td></td></tr><tr><td>U2D2</td><td align="center">1</td><td>Required for Dynamixel communication</td></tr><tr><td>U2D2 Power Hub Board</td><td align="center">1</td><td>Required for Dynamixel power</td></tr><tr><td>Raspberry Pi 5 (16 GB)</td><td align="center">1</td><td></td></tr><tr><td>Raspberry Pi 5 Active Cooler</td><td align="center">1</td><td>Required to prevent thermal throttling</td></tr><tr><td>Raspberry Pi Pico</td><td align="center">1</td><td></td></tr><tr><td>Raspberry Pi Pico Breakout Board</td><td align="center">1</td><td></td></tr><tr><td>USB Hub</td><td align="center">1</td><td></td></tr><tr><td>Ethernet (CAT) Cable</td><td align="center">1</td><td></td></tr><tr><td>USB-C to USB-C Cable</td><td align="center">1</td><td></td></tr><tr><td>Wireless Gamepad</td><td align="center">1</td><td>Optional for teleoperation</td></tr><tr><td>Wago Inline Connectors</td><td align="center">As required</td><td></td></tr><tr><td>Wago 2-Port Connectors</td><td align="center">As required</td><td></td></tr><tr><td>Wago 3-Port Connector</td><td align="center">As required</td><td></td></tr><tr><td>Terminal Block</td><td align="center">1</td><td></td></tr><tr><td>Barrel Connector</td><td align="center">2</td><td></td></tr><tr><td>Wire Crimps (10–12 AWG)</td><td align="center">As required</td><td>Required for battery and high-current lines</td></tr><tr><td>Wire Crimps (16–22 AWG)</td><td align="center">As required</td><td></td></tr></tbody></table>

### 3D-Printed Parts

| Component                    | Quantity |
| ---------------------------- | :------: |
| Motor Controller Mount Plate |     2    |
| Buck Converter Mount         |     4    |
| Jetson Mount                 |     1    |
| ZED Camera Mount             |     1    |
| Raspberry Pi Mount           |     1    |
| Cable Channels               |     2    |
| 5V 5A Buck Converter Mount   |     1    |
| Cover Plates                 |    16    |
| Top Cable Tray               |     1    |

### List of Cables

<table><thead><tr><th>Type</th><th width="122.60009765625" align="center">Quantity</th><th>Attachment</th></tr></thead><tbody><tr><td>USB-A to Micro-USB</td><td align="center">1</td><td>Raspberry Pi 5 to Raspberry Pi Pico</td></tr><tr><td><p>USB-A to Micro-USB</p><p>(at least 2m long)</p></td><td align="center">1</td><td>Raspberry Pi 5 to U2D2 (at the top)</td></tr><tr><td>CAT6 Ethernet (at least 2m long)</td><td align="center">1</td><td>Raspberry Pi 5 to Jetson Orin</td></tr><tr><td><p>USB-A male to USB-A female</p><p>(at least 2m long)</p></td><td align="center">1</td><td>Raspberry Pi 5 to USB hub (at the top)</td></tr><tr><td>USB-A to Type-C</td><td align="center">1</td><td>Jetson Orin to ZED 2i</td></tr></tbody></table>


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://build.yourownrobot.ai/1.-parts-and-materials.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.