> For the complete documentation index, see [llms.txt](https://build.yourownrobot.ai/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://build.yourownrobot.ai/1.-parts-and-materials.md).

# 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>


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