Bill of materials¶
Everything to buy for one robot. Quantities and prices are the team's own bill of materials for the reference robot; Team ref is the line of that list a row comes from.
Find a part on the robot¶
Click Preview in any row below to see where that part sits; click a component on the robot to find its row.
Axes are the STEP file axes (right-handed, Z up).
| Category | Covers | Subtotal |
|---|---|---|
| Actuators | 31 RobStride units, 6 models | $5,605.00 |
| Electronics | Computer, battery, power conversion, Controller Area Network (CAN) adapters, inertial measurement unit (IMU), cameras | $2,814.85 |
| CNC parts | 30 machined parts | $4,198.58 |
| Cables and connectors | One cable line; connectors, wire, sleeving and heat-shrink are lab consumables, not itemised | $29.98 |
| Fasteners and hardware | 9 bearing and screw lines | $179.12 |
| Printed parts | 48 rows of fused-deposition (FDM) and laser-sintered (SLS) prints | $169.01 |
| Robot total | $12,996.53 |
Prices are the team BOM's as of 2026-09-19. The tables as CSV: actuators, electronics, cnc-parts, printed-parts, fasteners, cables-connectors.
Actuators¶
Every joint is a RobStride quasi-direct-drive actuator: 31 units, 6 models, $5,605.00.
| Team ref | Model | Part ID | Qty | Unit cost | Line total | Vendor |
|---|---|---|---|---|---|---|
E1 |
RobStride 00 | ACT_RS00 |
2 | $125.00 | $250.00 | Amazon |
E2 |
RobStride 02 | ACT_RS02 |
6 | $145.00 | $870.00 | Amazon |
E3 |
RobStride 03 | ACT_RS03 |
11 | $225.00 | $2,475.00 | Amazon |
E4 |
RobStride 04 | ACT_RS04 |
2 | $255.00 | $510.00 | Amazon |
E5 |
RobStride 05 | ACT_RS05 |
6 | $110.00 | $660.00 | AiFitLab |
E6 |
RobStride 06 | ACT_RS06 |
4 | $210.00 | $840.00 | AiFitLab |
| Total | 31 | $5,605.00 |
Which model goes in which joint¶
| Model | Qty | Joints (both sides unless noted) |
|---|---|---|
| RS00 | 2 | wrist_2 |
| RS02 | 6 | shoulder_3, elbow, wrist_1 |
| RS03 | 11 | waist (1), hip_1, hip_2, hip_3, ankle_1, shoulder_1 |
| RS04 | 2 | knee |
| RS05 | 6 | wrist_3; cam_yaw and cam_pitch on both camera gimbals |
| RS06 | 4 | ankle_2, shoulder_2 |
Electronics¶
Computer, battery, power conversion, Controller Area Network (CAN) and sensing: $2,814.85 across 15 lines (MPN: manufacturer part number).
| Team ref | Part ID | Description | MPN | Qty | Unit cost | Line total | Vendor |
|---|---|---|---|---|---|---|---|
E0 |
EL_COMPUTE_MINIPC |
MINISFORUM X1-470 mini PC (onboard computer) | X1-470 | 1 | $1,295.00 | $1,295.00 | Amazon |
E7 |
EL_BATTERY_6S |
Zeee 6S LiPo battery, 10000 mAh, 22.2 V, 2-pack | 10000mah-22-2v-120c-ec5 | 1 | $367.00 | $367.00 | Zeee |
E8 |
EL_TVS_DIODE |
TVS diode, 53 V working / 85 V clamping | M1.5KE62CA | 10 | $3.56 | $35.60 | DigiKey |
E10 |
EL_SERVO_DRIVER |
Waveshare serial bus servo driver board, ST/SC series | 25514 | 2 | $4.99 | $9.98 | Waveshare |
E11 |
EL_BUCK_12V_ENC |
DC 20-60 V to 12 V encased buck converter | B0G2SV9PFY | 1 | $18.99 | $18.99 | Amazon |
E12 |
EL_BUCK_48V_12V |
48 V to 12 V buck converter | 6.5V-60V To 5V/12V Dc | 2 | $2.70 | $5.40 | AliExpress |
E13 |
EL_CAN_ADAPTER |
CANable PRO V2.0 USB-CAN controller | CANable PRO V2.0 | 6 | $20.80 | $124.80 | Amazon |
E14 |
EL_CAM_D436 |
Intel RealSense D436 depth camera | D436 | 2 | $354.00 | $708.00 | RealSense Store |
E15 |
EL_SERVO_FEETECH |
Feetech HL-3915-C001 12 V servo, 14.2 kg-cm | HL-3915-C001 | 2 | $50.00 | $100.00 | AiFitLab |
E16 |
EL_USB_HUB |
Vention USB hub | B0D2XWJ99H | 3 | $12.99 | $38.97 | Amazon |
E17 |
EL_IMU_TM171 |
SYD Dynamics TransducerM TM171 9-axis AHRS, dual-port | TM171 | 1 | $57.00 | $57.00 | RobotShop |
E18 |
EL_SURGE_PROTECTOR |
TTocas surge protector | E9 | 1 | $22.99 | $22.99 | Amazon |
E19 |
EL_DIST_BLOCK |
Power distribution block terminals | 6x8-7 | 4 | $0.53 | $2.12 | AliExpress |
E20 |
EL_VOLTAGE_CHECKER |
LiPo voltage checker, 1-8S, with case | Aoicrie 1S-8S 2-pack | 2 | $14.50 | $29.00 | ePowerHobby |
E21 |
EL_USBC_ADAPTER |
USB-C right-angle adapter, camera cable to the D436 | — | 2 | — | — | — |
| Total | $2,814.85 |
Small connectors such as the USB-C adapter (E21) are lab consumables, not priced.
CNC parts¶
30 machined parts, $4,198.58. Qty and Unit cost are the team BOM's; Team ref is its line.
Leg¶
18 rows, $2,550.86.
| Team ref | Part ID | Description | Qty | Unit cost | Line total |
|---|---|---|---|---|---|
C6 |
CNC_leg01_hip_center_back |
Hip 1 Motor Bracket | 2 | $81.59 | $163.18 |
C5 |
CNC_leg02_RS03_shaft_coupler |
Robstride 03 Output Shaft | 7 | $46.79 | $327.50 |
C4 |
CNC_leg03_RS03_shaft_bearing_retainer |
Robstride 03 Bearing Retainer | 5 | $49.34 | $246.70 |
C7 |
CNC_leg04_hip_roll_front_bearing_retainer |
Hip 2 Motor Bracket | 2 | $48.59 | $97.18 |
C8 |
CNC_leg05_hip_roll_back_bearing_retainer |
Hip 2 Bearing Retainer | 2 | $68.02 | $136.04 |
C9 |
CNC_leg06_hip_roll_output_shaft |
Hip 3 Output Shaft | 2 | $59.96 | $119.92 |
C10 |
CNC_leg07_hip_roll_support_shaft |
Hip 3 Supporting Shaft | 2 | $57.43 | $114.86 |
C11 |
CNC_leg08_knee_front_bearing_retainer |
Knee Motor Bracket | 2 | $54.81 | $109.62 |
C12 |
CNC_leg09_knee_motor_back_cover |
Knee Bearing Retainer | 2 | $81.35 | $162.70 |
C13 |
CNC_leg10_knee_output_shank |
Shank Shaft | 2 | $113.29 | $226.58 |
C14 |
CNC_leg11_knee_support_shank |
Shank Support | 2 | $50.05 | $100.10 |
C15 |
CNC_leg12_lower_leg_bearing |
Shank Joint Cap | 4 | $16.50 | $66.00 |
C16 |
CNC_leg13_ankle_pitch_front |
Ankle Motor Bracket | 2 | $78.82 | $157.64 |
C17 |
CNC_leg14_ankle_pitch_back |
Ankle Bearing Retainer | 2 | $95.85 | $191.70 |
C18 |
CNC_leg15_RS06_shaft_bearing_retainer |
Robstride 06 Bearing Retainer | 2 | $37.81 | $75.62 |
C19 |
CNC_leg16_ankle_roll_output_shaft |
Foot Shaft | 2 | $39.40 | $78.80 |
C20 |
CNC_leg17_ankle_roll_support_shaft |
Foot Support | 2 | $34.60 | $69.20 |
C21 |
CNC_leg18_foot_plate |
Foot | 2 | $53.76 | $107.52 |
| Leg subtotal | $2,550.86 |
Arm¶
8 rows, $1,112.56.
| Team ref | Part ID | Description | Qty | Unit cost | Line total |
|---|---|---|---|---|---|
C22 |
CNC_arm01_shoulder_roll_front_bearing |
Shoulder Motor Bracket | 2 | $46.69 | $93.38 |
C23 |
CNC_arm02_shoulder_roll_back_bearing |
Shoulder Bearing Retainer | 2 | $99.24 | $198.48 |
C24 |
CNC_arm03_shoulder_roll_output_shaft |
Shoulder Shaft | 2 | $31.72 | $63.44 |
C25 |
CNC_arm04_shoulder_roll_support_shaft |
Shoulder/Elbow Support | 4 | $57.56 | $230.24 |
C28 |
CNC_arm07_elbow_front_bearing |
Elbow Motor Bracket | 2 | $57.94 | $115.88 |
C29 |
CNC_arm08_elbow_back_bearing |
Elbow Bearing Retainer | 2 | $65.65 | $131.30 |
C26 |
CNC_arm09_elbow_output_shaft |
Elbow Shaft | 2 | $31.42 | $62.84 |
C27 |
CNC_arm10_r03_back_cover |
Shoulder/Elbow Coupler | 4 | $54.25 | $217.00 |
| Arm subtotal | $1,112.56 |
Body¶
4 rows, $535.16.
| Team ref | Part ID | Description | Qty | Unit cost | Line total |
|---|---|---|---|---|---|
C1 |
CNC_body01_bottom_plate |
Body Plate - Bottom | 1 | $64.03 | $64.03 |
C2 |
CNC_body02_side_plate |
Body Plate - Side | 2 | $109.14 | $218.28 |
C0 |
CNC_body03_top_plate |
Body Plate - Top | 1 | $64.53 | $64.53 |
C3 |
CNC_body04_front_plate |
Body Plate - Front/Back | 4 | $47.08 | $188.32 |
| Body subtotal | $535.16 |
Machined total: $4,198.58.
Printed parts¶
One row per printed part; Team ref is the team BOM line. Material and process are what the reference robot was printed with. Print settings and files: Printing guide, CAD downloads.
| Team ref | Part ID | Description | Material | Process | Qty |
|---|---|---|---|---|---|
P4 |
3DP_arm05_RS02_shaft_bearing_retainer |
RS02 shaft bearing retainer | Nylon 12 | SLS | 4 |
P6 |
3DP_arm11_wrist_roll |
Wrist-roll link | Nylon 12 | SLS | 2 |
P7, P9 |
3DP_arm14_wrist_block |
Wrist block (Fusion Component5, next to the wrist-roll link; role not labelled in CAD) |
Nylon 12 | SLS | 2 |
P8 |
3DP_arm15_end_effector_attachment |
End-effector attachment between wrist and gripper (Fusion v15_right_end_effector_attachment, one per wrist) |
Nylon 12 | SLS | 2 |
P37, P38 |
3DP_armP01_elbow_cover_a |
Elbow cover, half A (Fusion Component38, material elbow_protection) |
TPU | FDM | 2 |
P37, P38 |
3DP_armP02_elbow_cover_b |
Elbow cover, half B (Fusion Component39, material elbow_protection) |
TPU | FDM | 2 |
P39 |
3DP_armP03_shoulder_cover_a |
Shoulder cover A (Fusion Component40, material shoulder_protection) |
TPU | FDM | 2 |
P39 |
3DP_armP04_shoulder_cover_b |
Shoulder cover B (Fusion Component41, material shoulder_protection) |
TPU | FDM | 2 |
P39 |
3DP_armP05_shoulder_cover_c |
Shoulder cover C (Fusion Component42, material shoulder_protection) |
TPU | FDM | 2 |
P39 |
3DP_armP06_shoulder_cover_d |
Shoulder cover D (Fusion Component43, material shoulder_protection) |
TPU | FDM | 2 |
P33, P34 |
3DP_armP07_shoulder_cover_e |
Shoulder cover E (Fusion Component34, material measured_shoulder_protection) |
TPU | FDM | 2 |
P33, P34 |
3DP_armP08_shoulder_cover_f |
Shoulder cover F (Fusion Component35, material measured_shoulder_protection) |
TPU | FDM | 2 |
P35, P36 |
3DP_armP09_shoulder_yaw_cover_a |
Shoulder-yaw cover A (Fusion Component36, material shoulder_yaw_protection) |
TPU | FDM | 4 |
P35, P36 |
3DP_armP10_shoulder_yaw_cover_b |
Shoulder-yaw cover B (Fusion Component37, material shoulder_yaw_protection) |
TPU | FDM | 4 |
P35, P36 |
3DP_armP11_shoulder_yaw_cover_c |
Shoulder-yaw cover C: the own body of the Fusion shoulder_yaw_protection cover group (role not labelled in CAD) |
TPU | FDM | 4 |
P5 |
3DP_arm06_RS02_shaft_coupler |
RS02 shaft coupler (with M3 heat-set inserts) | Nylon 12 | SLS | 2 |
P0 |
3DP_body05_interior_plate |
Torso interior plate (carries the electronics) | PLA | FDM | 1 |
P1 |
3DP_body06_front_plate |
Torso front plate | PLA | FDM | 1 |
P2 |
3DP_body07_front_plate_removable |
Torso front plate, removable | PLA | FDM | 1 |
P3 |
3DP_body09_back_plate_removable |
Torso back plate, removable | PLA | FDM | 1 |
P1 |
3DP_body08_back_plate |
Torso back plate | PLA | FDM | 1 |
P20, P21, P24, P25 |
3DP_legP01_hip3_cover_a |
Hip-yaw cover A (Fusion Component194, material hip3_protection) |
TPU | FDM | 3 |
P20, P21, P24, P25 |
3DP_legP02_hip3_cover_b |
Hip-yaw cover B (Fusion Component195, material hip3_protection) |
TPU | FDM | 3 |
P20, P21, P24, P25 |
3DP_legP03_hip3_cover_c |
Hip-yaw cover C (Fusion Component198, material hip3_protection) |
TPU | FDM | 1 |
P20, P21, P24, P25 |
3DP_legP04_hip3_cover_d |
Hip-yaw cover D (Fusion Component199, material hip3_protection) |
TPU | FDM | 1 |
P22, P23 |
3DP_legP05_hip2_cover_a |
Hip-roll cover A (Fusion Component196, material hip2_protection) |
TPU | FDM | 2 |
P22, P23 |
3DP_legP06_hip2_cover_b |
Hip-roll cover B (Fusion Component197, material hip2_protection) |
TPU | FDM | 2 |
P26, P27 |
3DP_legP07_knee_cover_a |
Knee cover A (Fusion Component44, material knee protection) |
TPU | FDM | 2 |
P26, P27 |
3DP_legP08_knee_cover_b |
Knee cover B (Fusion Component45, material knee protection) |
TPU | FDM | 2 |
P28 |
3DP_legP09_shank_cover_a |
Shank cover A (Fusion Component42 in the lower body, material shank protection) |
TPU | FDM | 2 |
P28 |
3DP_legP10_shank_cover_b |
Shank cover B (Fusion Component43 in the lower body, material shank protection) |
TPU | FDM | 2 |
P29, P30 |
3DP_legP11_ankle_cover_a |
Ankle cover A on the ankle-roll motor (Fusion Component46, material ANKLE_1_PROTECTION) |
TPU | FDM | 2 |
P29, P30 |
3DP_legP12_ankle_cover_b |
Ankle cover B on the ankle-roll motor (Fusion Component47, material ANKLE_1_PROTECTION) |
TPU | FDM | 2 |
P32 |
3DP_leg19_sole |
Foot sole (Fusion symmetric_sole, material foot_protection) |
TPU | FDM | 2 |
P31 |
3DP_leg20_foot_front |
Foot front cap (Fusion foot_front, material foot_protection) |
TPU | FDM | 2 |
P10 |
3DP_grip01_base |
Gripper base (Fusion base; carries the two AprilTag holders) |
PLA | FDM | 2 |
P13 |
3DP_grip02_finger |
Gripper finger (Fusion custom_umi_gripper v6, two per gripper; role read from the name and count, not labelled in CAD) |
TPU | FDM | 4 |
P11 |
3DP_grip03_rail |
Gripper slide rail (Fusion rail, two per gripper) |
PLA | FDM | 4 |
P14 |
3DP_grip04_apriltag_holder |
AprilTag holder on the gripper base (Fusion apriltag_holder, two per gripper) |
PLA | FDM | 4 |
P12 |
3DP_grip05_pinion |
Double-helix drive pinion, 16 teeth, 6 mm (Fusion Component9 in double_helix_pinion_16teeth_6mm) |
Nylon 12 | SLS | 2 |
P15 |
3DP_grip06_apriltag_tile |
AprilTag tile (Fusion apriltag, eight per gripper: four on the fingers, four on the base holders) |
PLA | FDM | 16 |
P16 |
3DP_cam01_gimbal_mount |
Camera-column base (Fusion gimbal_mount, one per column) |
PLA | FDM | 2 |
P17 |
3DP_cam02_gimbal_neck |
Camera-column neck (Fusion gimbal_neck, one per column) |
PLA | FDM | 2 |
P18 |
3DP_cam03_gimbal_arm |
Camera-column arm (Fusion gimbal_arm; carries Component92) |
PLA | FDM | 2 |
P19 |
3DP_cam04_gimbal_arm_link |
Camera-column arm link (Fusion Component92, child of gimbal_arm; role not labelled in CAD) |
PLA | FDM | 2 |
| Printed total | 113 |
Materials — PLA and TPU filament, nylon 12 SLS powder — are lab consumables, not itemised.
Fasteners and hardware¶
9 hardware lines — six bearing sizes and three Torx button-head screw sizes — totalling $179.12. Screw lines are McMaster-Carr packs, not pieces on the robot.
| Team ref | Part ID | Description | Qty | Unit cost | Line total | Vendor |
|---|---|---|---|---|---|---|
H0 |
FAS_BEARING_45X58X7 |
Ball bearing, 45 x 58 x 7 mm | 13 | $3.00 | $39.00 | Amazon |
H1 |
FAS_BEARING_50X65X7 |
Ball bearing, 50 x 65 x 7 mm | 2 | $4.00 | $8.00 | Amazon |
H2 |
FAS_BEARING_35X44X5 |
Ball bearing, 35 x 44 x 5 mm | 18 | $3.00 | $54.00 | Amazon |
H3 |
FAS_BEARING_35X47X7 |
Ball bearing, 35 x 47 x 7 mm | 4 | $4.00 | $16.00 | Amazon |
H4 |
FAS_BEARING_30X37X4 |
Ball bearing, 30 x 37 x 4 mm | 2 | $2.00 | $4.00 | Amazon |
H5 |
FAS_BEARING_10X15X4 |
Ball bearing, 10 x 15 x 4 mm | 2 | $1.00 | $2.00 | Amazon |
H6 |
FAS_SCREW_M3X10_TORX_BH |
M3 x 10 Torx button-head screw | 5 | $5.16 | $25.80 | McMaster-Carr |
H7 |
FAS_SCREW_M4X8_TORX_BH |
M4 x 8 Torx button-head screw | 1 | $7.20 | $7.20 | McMaster-Carr |
H8 |
FAS_SCREW_M4X10_TORX_BH |
M4 x 10 Torx button-head screw | 4 | $5.78 | $23.12 | McMaster-Carr |
| Total | $179.12 |
Threadlocker (Loctite 222) is a lab consumable, not itemised.
Cables and connectors¶
The team BOM has one cable line. Connectors, wire, sleeving, heat-shrink and termination resistors are lab consumables: listed below without prices.
| Team ref | Part ID | Description | Qty | Unit cost | Line total | Vendor |
|---|---|---|---|---|---|---|
E9 |
CBL_USBA_USBC_BELKIN |
Belkin USB-A to USB-C cable, 6.6 ft, 2-pack | 2 | $14.99 | $29.98 | Amazon |
| Total | $29.98 |
Consumables (not itemised)¶
Standard lab stock; buy to suit your build. Which connector and gauge goes where: Harness fabrication.
| Item | Use |
|---|---|
| Amass XT30 and XT30(2+2) connectors, male and female | Power branches; every actuator trunk |
| GH1.25 2-pin housings and cable contacts | CAN on RS03 / RS04 |
| EC5 connectors | Battery leads and the series link |
| Silicone wire, 12 / 16 / 18 AWG | Pack trunk, computer branch, motor branches |
| Ethernet cable | CAN leads: a twisted pair becomes CAN_H / CAN_L |
| Wire loom / sleeving, ¼ in and ⅜ in | Limb runs |
| Heat-shrink, 3/32 in and ¼ in | Connector wires; cable jackets |
| 120 Ω CAN termination resistors | Both ends of each bus |
| 10 A fuse and inline fuse holder | Computer branch, after the 48 V→12 V buck converter |
Sourcing¶
Order these first — long lead time or supply risk, and no drop-in substitute:
| Item | Why |
|---|---|
| 30 machined parts, $4,198.58 | Large custom order (CNC guide) |
| RobStride actuators, 31 units, $5,605.00 | Supply risk |
| Intel RealSense D436 ×2 | Supply risk |
Vendors¶
| Vendor | Lines | Part IDs |
|---|---|---|
| AiFitLab | 3 | ACT_RS05, ACT_RS06, EL_SERVO_FEETECH |
| AliExpress | 2 | EL_BUCK_48V_12V, EL_DIST_BLOCK |
| Amazon | 16 | ACT_RS00, ACT_RS02, ACT_RS03, ACT_RS04, EL_COMPUTE_MINIPC, EL_BUCK_12V_ENC, EL_CAN_ADAPTER, EL_USB_HUB, EL_SURGE_PROTECTOR, CBL_USBA_USBC_BELKIN, FAS_BEARING_45X58X7, FAS_BEARING_50X65X7, FAS_BEARING_35X44X5, FAS_BEARING_35X47X7, FAS_BEARING_30X37X4, FAS_BEARING_10X15X4 |
| DigiKey | 1 | EL_TVS_DIODE |
| ePowerHobby | 1 | EL_VOLTAGE_CHECKER |
| McMaster-Carr | 3 | FAS_SCREW_M3X10_TORX_BH, FAS_SCREW_M4X8_TORX_BH, FAS_SCREW_M4X10_TORX_BH |
| RealSense Store | 1 | EL_CAM_D436 |
| RobotShop | 1 | EL_IMU_TM171 |
| Waveshare | 1 | EL_SERVO_DRIVER |
| Zeee | 1 | EL_BATTERY_6S |