1. Parts and Materials
This page contains the list of all the parts and materials you will need, we have tried to keep the order of operation as intuitive as possible.
Mechanical Components
3-inch MAX Swerve Drive Modules
4
2 left-oriented, 2 right-oriented
Aluminum Extrusion – 2" × 1" × 6.5"
2
Aluminum Extrusion – 2" × 1" × 10"
2
Aluminum Extrusion – 2" × 1" × 15"
2
Aluminum Extrusion – 2" × 1" × 4.75"
8
Aluminum Extrusion – 1" × 1" × 17"
2
Aluminum Extrusion – 1" × 1" × 11.5"
2
90° Aluminum Clamps
As required
Interior L-Shape Corner Connectors
As required
T-Clamps
As required
T-Plates
As required
M5 × 10 mm Screws
Pack
M5 Extrusion Nuts
Pack
Insert before closing frame loops
M6 Screws
Pack
M6 Nuts
Pack
M6 Washers
Pack
10-32 Screws
Pack
Used for controller mounting
Flexispot E6 Dual-Motor Lift
1
Lift Attachment Brackets (L-shaped)
As required
Required for lift-to-frame mounting
Cable Carrier (Drag Chain)
1
Required for moving lift cables
Piper Robotic Arms
2
Arm Attachment Plate
1
Dynamixel XL430 Motors
2
Threadlocker (Loctite 243)
1
Use on all metal-to-metal fasteners
Lithium Grease
1
Apply to moving interfaces only
Electrical Components
24V 20Ah Lithium Battery + Charger
1
Anderson Battery Connector
1
Required for battery quick-disconnect
Power Distribution Board
1
Fuse Box
1
All high-current lines must be fused
Emergency Stop Switch
1
Must cut main system power
24V → 24V, 6A DC-DC Converter
2
Dedicated rails for lift and arms
24V → 12V DC-DC Converter
1
24V → 5V, 5A DC-DC Converter
1
Powers compute and low-level control
Motor Controllers with Flex Dock
4
One per swerve module
CAN Bus Module
1
Lift Motor Controller (BTS7960)
1
U2D2
1
Required for Dynamixel communication
U2D2 Power Hub Board
1
Required for Dynamixel power
Raspberry Pi 5 (16 GB)
1
Raspberry Pi 5 Active Cooler
1
Required to prevent thermal throttling
Raspberry Pi Pico
1
Raspberry Pi Pico Breakout Board
1
USB Hub
1
Ethernet (CAT) Cable
1
USB-C to USB-C Cable
1
Wireless Gamepad
1
Optional for teleoperation
Wago Inline Connectors
As required
Wago 2-Port Connectors
As required
Wago 3-Port Connector
As required
Terminal Block
1
Barrel Connector
2
Wire Crimps (10–12 AWG)
As required
Required for battery and high-current lines
Wire Crimps (16–22 AWG)
As required
3D-Printed Parts
Motor Controller Mount Plate
1
Buck Converter Mount
4
Jetson Mount
1
ZED Camera Mount
1
Raspberry Pi Mount
1
Cable Channels
2
Terminal Mount
1
Cover Plates
16
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