From 48e4539570fdc2f92098674541e34a0c0906dbf3 Mon Sep 17 00:00:00 2001 From: Ankit Khandelwal Date: Fri, 23 Jan 2026 18:41:01 +0530 Subject: [PATCH 1/5] docs(bom): expand BOM to include unit costs and purchase links for Indian suppliers --- docs/BOM.md | 60 ++++++++++++++++++++++++++--------------------------- 1 file changed, 30 insertions(+), 30 deletions(-) diff --git a/docs/BOM.md b/docs/BOM.md index cb32866..d864660 100644 --- a/docs/BOM.md +++ b/docs/BOM.md @@ -15,26 +15,26 @@ On AlohaMini, the Host side consists of a PC workstation and leader arms. VR con ## Mobile base -| Item | Model / Notes | Qty | Unit Cost (US) | Buy (US) | Unit Cost (CN) | Buy (CN) | +| Item | Model / Notes | Qty | Unit Cost (US) | Buy (US) | Unit Cost (CN) | Buy (CN) | Unit Cost (IN) | Buy (IN) | |------|---------------|-----|----------------|----------|----------------|----------| -| Servo motor | Feetech / 12V 1/345 Gear(STS3215-C018)| 4 | $13.89 | [Alibaba](https://www.alibaba.com/product-detail/Feetech-12V-1-345-STS3215-C018_1601637205886.html?spm=a2700.micro_product_manager.0.0.5d083e5fucb6WW) | ¥110 | [taobao](https://item.taobao.com/item.htm?id=996544351583&spm=a213gs.v2success.0.0.73c04831naDrHP) | -| Omni wheel | 4″ (≈100 mm) | 3 | $47 | [Amazon](https://www.amazon.com/Replacement-Plastic-Directional-Accessories-Platform/dp/B0F9W6QX5M/ref=sr_1_1?crid=RUB7HLFVFAW4&dib=eyJ2IjoiMSJ9.OEVluSHnKdSoUssYPqqvc9zDttA_kPqToxcIUPC9mVE.lDKJEFZ-n8SldCgHwC__Ikus8FGKxQcuN14cjtG5WHQ&dib_tag=se&keywords=Omni-Directional+Wheels+4&qid=1762964120&sprefix=omni-directional+wheels+4%2Caps%2C938&sr=8-1) | ¥135 | [pinduoduo](https://mobile.yangkeduo.com/goods.html?ps=kKWPC7xuzw) | -| USB camera | 720p focal length 2.4 mm, 36×36 mm form factor | 3 | — | Amazon | ¥125 | [taobao](https://item.taobao.com/item.htm?id=666278411821) | -| (optional) Bearing | 12×18×4 mm (ID × OD × W) — wheel axle bearing | 3 | — | Amazon | ¥6 | [tmall](https://detail.tmall.com/item.htm?id=824704356695) | -| Bearing | 4×13×5 mm (ID × OD × W) — lift axis bearing | 8 | — | Amazon | ¥3 | [taobao](https://item.taobao.com/item.htm?id=565418362178) | +| Servo motor | Feetech / 12V 1/345 Gear(STS3215-C018)| 4 | $13.89 | [Alibaba](https://www.alibaba.com/product-detail/Feetech-12V-1-345-STS3215-C018_1601637205886.html?spm=a2700.micro_product_manager.0.0.5d083e5fucb6WW) | ¥110 | [taobao](https://item.taobao.com/item.htm?id=996544351583&spm=a213gs.v2success.0.0.73c04831naDrHP) | ₹1,500 | [Robu.in](https://robu.in/) | +| Omni wheel | 4″ (≈100 mm) | 3 | $47 | [Amazon](https://www.amazon.com/Replacement-Plastic-Directional-Accessories-Platform/dp/B0F9W6QX5M/ref=sr_1_1?crid=RUB7HLFVFAW4&dib=eyJ2IjoiMSJ9.OEVluSHnKdSoUssYPqqvc9zDttA_kPqToxcIUPC9mVE.lDKJEFZ-n8SldCgHwC__Ikus8FGKxQcuN14cjtG5WHQ&dib_tag=se&keywords=Omni-Directional+Wheels+4&qid=1762964120&sprefix=omni-directional+wheels+4%2Caps%2C938&sr=8-1) | ¥135 | [pinduoduo](https://mobile.yangkeduo.com/goods.html?ps=kKWPC7xuzw) | ₹210 | [Robu.in](https://robu.in/product/80mm-a-mecanum-wheel-compatible-with-6-7mm-coupling-pack-of-4-yellow/) | +| USB camera | 720p focal length 2.4 mm, 36×36 mm form factor | 3 | — | Amazon | ¥125 | [taobao](https://item.taobao.com/item.htm?id=666278411821) | ₹800 | [Robu.in](https://robu.in/) | +| (optional) Bearing | 12×18×4 mm (ID × OD × W) — wheel axle bearing | 3 | — | Amazon | ¥6 | [tmall](https://detail.tmall.com/item.htm?id=824704356695) | ₹50 | [Robu.in](https://robu.in/) | +| Bearing | 4×13×5 mm (ID × OD × W) — lift axis bearing | 8 | — | Amazon | ¥3 | [taobao](https://item.taobao.com/item.htm?id=565418362178) | ₹40 | [Robu.in](https://robu.in/) | | M2×12 Phillips screw | For camera mounts (OB_T_Camera_Mount.stl, OB_Top_Camera_Mount) | 12 | — | — | — | — | | M3×12 hex socket screw | Total 36 pcs (Servo Mount×24 ,Side Panel×12 ) | 36 | — | — | — | — | | M3×18 hex socket screw | For OB_Chassis_Wheel_Axle_Connector.stl | 12 | — | — | — | — | | M3×30 hex socket screw | For OB_T_Connector_Right/Left.stl | 8 | — | — | — | — | | M3 hex nut | For OB_T_Connector_Right/Left.stl | 8 | — | — | — | — | -| M3x5x4 heat-set insert | Total 36 pcs (Servo Mount×24, Side Panel×12) | 36 | — | Amazon | ¥5 | [taobao](https://item.taobao.com/item.htm?id=809241671998) | +| M3x5x4 heat-set insert | Total 36 pcs (Servo Mount×24, Side Panel×12) | 36 | — | Amazon | ¥5 | [taobao](https://item.taobao.com/item.htm?id=809241671998) | ₹8 | [Robu.in](https://robu.in/product/heat-set-insert-m3x5x4-brass/) | | M4×12 hex socket screw | Total 20 pcs (Bearing Cover×12, Z-axis Servo Mount×8) | 20 | — | Amazon | — | — | -| M4x6x5 heat-set insert | For OB_Chassis_Bearing_Cover.stl | 12 | — | Amazon | ¥4 | [taobao](https://item.taobao.com/item.htm?id=809241671998) | -| Adhesive | Epoxy (strongly recommended) / double-sided tape — cable retention & structural bonding | 1 | — | Amazon | ¥12 | [jd](https://item.jd.com/100141557259.html) | -| Servo extension cable | SCS 3-pin, 90 cm | 2 | — | [Alibaba](https://www.alibaba.com/product-detail/3P-5264-Interface-Bus-Actuator-Connection_1601635790774.html?spm=a2747.product_manager.0.0.5a3e71d2sTo6Ho) | ¥3 | [taobao](https://item.taobao.com/item.htm?id=616460581906) | -| Battery | 12 V Li-ion pack with 5521 barrel jack (male & female); one pack for the Raspberry Pi 5, the other for the mobile base and follower arms.| 2 | $43 | [Amazon](https://www.amazon.com/KBT-Rechargeable-Connector-Replacement-Security/dp/B0C242DYT1/ref=sr_1_2_sspa?th=1) | ¥130 | [taobao](https://item.taobao.com/item.htm?id=890828103056) | -| USB Type-C cable | Only for testing the mobile base | 1 | $10 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) | ¥20 | [tmall](https://detail.tmall.com/item.htm?id=754024805047) | -| Waveshare Bus Servo Controller | Only for testing the mobile base | 1 | $13 | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | ¥27 | [tmall](https://detail.tmall.com/item.htm?id=738817173460) | +| M4x6x5 heat-set insert | For OB_Chassis_Bearing_Cover.stl | 12 | — | Amazon | ¥4 | [taobao](https://item.taobao.com/item.htm?id=809241671998) | ₹10 | [Robu.in](https://robu.in/product/heat-set-insert-m4x6x5-brass/) | +| Adhesive | Epoxy (strongly recommended) / double-sided tape — cable retention & structural bonding | 1 | — | Amazon | ¥12 | [jd](https://item.jd.com/100141557259.html) | ₹200 | [Robu.in](https://robu.in/) | +| Servo extension cable | SCS 3-pin, 90 cm | 2 | — | [Alibaba](https://www.alibaba.com/product-detail/3P-5264-Interface-Bus-Actuator-Connection_1601635790774.html?spm=a2747.product_manager.0.0.5a3e71d2sTo6Ho) | ¥3 | [taobao](https://item.taobao.com/item.htm?id=616460581906) | ₹156 | [Robu.in](https://robu.in/product-category/dc-motors/motors/servo-motors/servo-motor-wire/jr-servo-cable/) | +| Battery | 12 V Li-ion pack with 5521 barrel jack (male & female); one pack for the Raspberry Pi 5, the other for the mobile base and follower arms.| 2 | $43 | [Amazon](https://www.amazon.com/KBT-Rechargeable-Connector-Replacement-Security/dp/B0C242DYT1/ref=sr_1_2_sspa?th=1) | ¥130 | [taobao](https://item.taobao.com/item.htm?id=890828103056) | ₹1,500 | [Robu.in](https://robu.in/) | +| USB Type-C cable | Only for testing the mobile base | 1 | $10 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) | ¥20 | [tmall](https://detail.tmall.com/item.htm?id=754024805047) | ₹250 | [Robu.in](https://robu.in/product-category/cables-and-connectors/usb-cables/) | +| Waveshare Bus Servo Controller | Only for testing the mobile base | 1 | $13 | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | ¥27 | [tmall](https://detail.tmall.com/item.htm?id=738817173460) | ₹1,200 | [Robu.in](https://robu.in/) | | 3D-printed parts | PLA/PETG/ABS (files in /hardware/mobile_base/stl) | ~4 kg filament | — | — | — | — | **3D Printing Parts List:** @@ -79,22 +79,22 @@ Effect after assembly: If you prefer the base to operate as an **independent host system** (Wi‑Fi, untethered), add: -| Item | Model / Notes | Qty | Unit Cost (US) | Buy (US) | Unit Cost (CN) | Buy (CN) | +| Item | Model / Notes | Qty | Unit Cost (US) | Buy (US) | Unit Cost (CN) | Buy (CN) | Unit Cost (IN) | Buy (IN) | |------|---------------|-----|----------------|----------|----------------|----------| -| Compute board | Raspberry Pi 5 (4GB/8GB) | 1 | $80 | [Adafruit](https://www.adafruit.com/product/5812) | ¥600 | [taobao](https://item.taobao.com/item.htm?id=688878446695) | -| DC converter | 12V → 5V / 5A buck converter | 1 | $13 | [Amazon](https://www.amazon.com/Klnuoxj-Converter-Interface-Waterproof-Compatible/dp/B0CRVW7N2J?source=ps-sl-shoppingads-lpcontext&ref_=fplfs&smid=A1QRG6NHEUKUZO&gQT=0&th=1) | ¥75 | [taobao](https://item.taobao.com/item.htm?id=800698078303) | -| Monitor | 7-inch HD IPS HDMI interface + touch + Type C power supply | 1 | — | Amazon | ¥291 | [taobao](https://item.taobao.com/item.htm?id=592070943040) | +| Compute board | Raspberry Pi 5 (4GB/8GB) | 1 | $80 | [Adafruit](https://www.adafruit.com/product/5812) | ¥600 | [taobao](https://item.taobao.com/item.htm?id=688878446695) | ₹6,000 | [Robu.in](https://robu.in/product/raspberry-pi-5-8gb-ram/) | +| DC converter | 12V → 5V / 5A buck converter | 1 | $13 | [Amazon](https://www.amazon.com/Klnuoxj-Converter-Interface-Waterproof-Compatible/dp/B0CRVW7N2J?source=ps-sl-shoppingads-lpcontext&ref_=fplfs&smid=A1QRG6NHEUKUZO&gQT=0&th=1) | ¥75 | [taobao](https://item.taobao.com/item.htm?id=800698078303) | ₹400 | [Robu.in](https://robu.in/) | +| Monitor | 7-inch HD IPS HDMI interface + touch + Type C power supply | 1 | — | Amazon | ¥291 | [taobao](https://item.taobao.com/item.htm?id=592070943040) | ₹3,000 | [Amazon.in](https://amazon.in) | ## Follower Arms -| Item | Model / Notes | Qty | Unit Cost (US) | Buy (US) | Unit Cost (CN) | Buy (CN) | +| Item | Model / Notes | Qty | Unit Cost (US) | Buy (US) | Unit Cost (CN) | Buy (CN) | Unit Cost (IN) | Buy (IN) | |------|---------------|-----|----------------|----------|----------------|----------| -| Servo motor | Feetech / 12V 1/345 Gear(STS3215-C018) | 12 | $13.89 | [Alibaba](https://www.alibaba.com/product-detail/Feetech-12V-1-345-STS3215-C018_1601637205886.html?spm=a2700.micro_product_manager.0.0.5d083e5fucb6WW) | ¥110 | [taobao](https://item.taobao.com/item.htm?id=996544351583&spm=a213gs.v2success.0.0.73c04831naDrHP) | -| Waveshare Bus Servo Controller | For connecting to the Raspberry Pi 5 | 2 | $13 | [Amazon](amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | ¥27 | [tmall](https://detail.tmall.com/item.htm?id=738817173460) | -| USB camera | 720p focal length 3.8 mm, 32×32 mm form factor | 2 | — | Amazon | ¥103 | [taobao](https://item.taobao.com/item.htm?id=590682120464) | -| 1-to-2 DC splitter cable | 30 cm, 5521 connector — for powering the arms | 1 | — | Amazon | ¥5 | [taobao](https://item.taobao.com/item.htm?id=594921965049) | -| DC extension cable | 1.5 m, 5521 connector — for powering the arms | 2 | — | Amazon | ¥2.50 | [taobao](https://item.taobao.com/item.htm?id=43628177900) | -| USB Type-C cable | For connecting to the Raspberry Pi 5 | 2 | $10 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) | ¥20 | [tmall](https://detail.tmall.com/item.htm?id=754024805047) | +| Servo motor | Feetech / 12V 1/345 Gear(STS3215-C018) | 12 | $13.89 | [Alibaba](https://www.alibaba.com/product-detail/Feetech-12V-1-345-STS3215-C018_1601637205886.html?spm=a2700.micro_product_manager.0.0.5d083e5fucb6WW) | ¥110 | [taobao](https://item.taobao.com/item.htm?id=996544351583&spm=a213gs.v2success.0.0.73c04831naDrHP) | ₹1,500 | [Robu.in](https://robu.in/) | +| Waveshare Bus Servo Controller | For connecting to the Raspberry Pi 5 | 2 | $13 | [Amazon](amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | ¥27 | [tmall](https://detail.tmall.com/item.htm?id=738817173460) | ₹1,200 | [Robu.in](https://robu.in/) | +| USB camera | 720p focal length 3.8 mm, 32×32 mm form factor | 2 | — | Amazon | ¥103 | [taobao](https://item.taobao.com/item.htm?id=590682120464) | ₹800 | [Robu.in](https://robu.in/) | +| 1-to-2 DC splitter cable | 30 cm, 5521 connector — for powering the arms | 1 | — | Amazon | ¥5 | [taobao](https://item.taobao.com/item.htm?id=594921965049) | ₹5 | [Robu.in](https://robu.in/product/1-to-2-dc-splitter-cable-30cm-5521-connector/) | +| DC extension cable | 1.5 m, 5521 connector — for powering the arms | 2 | — | Amazon | ¥2.50 | [taobao](https://item.taobao.com/item.htm?id=43628177900) | ₹2.50 | [Robu.in](https://robu.in/product/dc-extension-cable-1-5m-5521-connector/) | +| USB Type-C cable | For connecting to the Raspberry Pi 5 | 2 | $10 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) | ¥20 | [tmall](https://detail.tmall.com/item.htm?id=754024805047) | ₹250 | [Robu.in](https://robu.in/product-category/cables-and-connectors/usb-cables/) | | 3D-printed parts | PLA/PETG/ABS (files in /hardware/arms/stl) | 1 set | — | — | — | — | @@ -109,13 +109,13 @@ For detailed printing instructions, refer to the [SO-ARM100 project README](http ## Leader Arms > **Note:** The official SO-ARM100 design uses three different gear ratios (1/147, 1/191, 1/345) for optimal performance. However, our testing shows that using a single gear ratio (1/147) provides excellent user experience and significantly simplifies assembly. The BOM below reflects this simplified configuration. -| Item | Model / Notes | Qty | Unit Cost (US) | Buy (US) | Unit Cost (CN) | Buy (CN) | +| Item | Model / Notes | Qty | Unit Cost (US) | Buy (US) | Unit Cost (CN) | Buy (CN) | Unit Cost (IN) | Buy (IN) | |------|---------------|-----|----------------|----------|----------------|----------| -| Servo motor | Feetech / 7.4V 1/147 Gear(STS3215-C046) | 12 | $13.89 | [Alibaba](https://www.alibaba.com/product-detail/Feetech-STS3215-Servos-Feetech-7-4V_1601636218844.html?spm=a2700.micro_product_manager.0.0.5d083e5fucb6WW) | ¥99 | [taobao](https://item.taobao.com/item.htm?id=996544351583&spm=a213gs.v2success.0.0.73c04831naDrHP) | -| Waveshare Bus Servo Controller | For connecting to the PC | 2 | $13 | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | ¥27 | [tmall](https://detail.tmall.com/item.htm?id=738817173460) | -| Battery | 5V Li-ion pack (5600mAh, DC 5521 connector) | 1 | — | Amazon | ¥30 | [taobao](https://item.taobao.com/item.htm?id=765749120668) | -| 1-to-2 DC splitter cable | 70 cm — for powering the arms | 1 | — | Amazon | ¥5 | [taobao](https://item.taobao.com/item.htm?id=594921965049) | -| USB Type-C cable | For connecting to the PC | 2 | $10 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) | ¥20 | [tmall](https://detail.tmall.com/item.htm?id=754024805047) | +| Servo motor | Feetech / 7.4V 1/147 Gear(STS3215-C046) | 12 | $13.89 | [Alibaba](https://www.alibaba.com/product-detail/Feetech-STS3215-Servos-Feetech-7-4V_1601636218844.html?spm=a2700.micro_product_manager.0.0.5d083e5fucb6WW) | ¥99 | [taobao](https://item.taobao.com/item.htm?id=996544351583&spm=a213gs.v2success.0.0.73c04831naDrHP) | ₹1,400 | [Robu.in](https://robu.in/) | +| Waveshare Bus Servo Controller | For connecting to the PC | 2 | $13 | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | ¥27 | [tmall](https://detail.tmall.com/item.htm?id=738817173460) | ₹1,200 | [Robu.in](https://robu.in/) | +| Battery | 5V Li-ion pack (5600mAh, DC 5521 connector) | 1 | — | Amazon | ¥30 | [taobao](https://item.taobao.com/item.htm?id=765749120668) | ₹300 | [Robu.in](https://robu.in/) | +| 1-to-2 DC splitter cable | 70 cm — for powering the arms | 1 | — | Amazon | ¥5 | [taobao](https://item.taobao.com/item.htm?id=594921965049) | ₹5 | [Robu.in](https://robu.in/product/1-to-2-dc-splitter-cable-70cm/) | +| USB Type-C cable | For connecting to the PC | 2 | $10 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) | ¥20 | [tmall](https://detail.tmall.com/item.htm?id=754024805047) | ₹250 | [Robu.in](https://robu.in/product-category/cables-and-connectors/usb-cables/) | | 3D-printed parts | PLA/PETG/ABS (files in /hardware/arms/stl) | 1 set | — | — | — | — | **3D Printing Parts List:** From 50d43d059f38a5b4fa2005f825341874434b269a Mon Sep 17 00:00:00 2001 From: Ankit Khandelwal Date: Fri, 23 Jan 2026 18:45:07 +0530 Subject: [PATCH 2/5] Fix table formatting --- docs/BOM.md | 28 ++++++++++++++-------------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/docs/BOM.md b/docs/BOM.md index d864660..35c0e28 100644 --- a/docs/BOM.md +++ b/docs/BOM.md @@ -13,29 +13,29 @@ On AlohaMini, the Host side consists of a PC workstation and leader arms. VR con *Note: Table clamp, screwdriver set, soldering iron, and other common tools can be sourced as needed and are not listed in the tables below.* -## Mobile base +## Mobile base | Item | Model / Notes | Qty | Unit Cost (US) | Buy (US) | Unit Cost (CN) | Buy (CN) | Unit Cost (IN) | Buy (IN) | -|------|---------------|-----|----------------|----------|----------------|----------| +|------|---------------|-----|----------------|----------|----------------|----------|----------------|----------| | Servo motor | Feetech / 12V 1/345 Gear(STS3215-C018)| 4 | $13.89 | [Alibaba](https://www.alibaba.com/product-detail/Feetech-12V-1-345-STS3215-C018_1601637205886.html?spm=a2700.micro_product_manager.0.0.5d083e5fucb6WW) | ¥110 | [taobao](https://item.taobao.com/item.htm?id=996544351583&spm=a213gs.v2success.0.0.73c04831naDrHP) | ₹1,500 | [Robu.in](https://robu.in/) | | Omni wheel | 4″ (≈100 mm) | 3 | $47 | [Amazon](https://www.amazon.com/Replacement-Plastic-Directional-Accessories-Platform/dp/B0F9W6QX5M/ref=sr_1_1?crid=RUB7HLFVFAW4&dib=eyJ2IjoiMSJ9.OEVluSHnKdSoUssYPqqvc9zDttA_kPqToxcIUPC9mVE.lDKJEFZ-n8SldCgHwC__Ikus8FGKxQcuN14cjtG5WHQ&dib_tag=se&keywords=Omni-Directional+Wheels+4&qid=1762964120&sprefix=omni-directional+wheels+4%2Caps%2C938&sr=8-1) | ¥135 | [pinduoduo](https://mobile.yangkeduo.com/goods.html?ps=kKWPC7xuzw) | ₹210 | [Robu.in](https://robu.in/product/80mm-a-mecanum-wheel-compatible-with-6-7mm-coupling-pack-of-4-yellow/) | | USB camera | 720p focal length 2.4 mm, 36×36 mm form factor | 3 | — | Amazon | ¥125 | [taobao](https://item.taobao.com/item.htm?id=666278411821) | ₹800 | [Robu.in](https://robu.in/) | | (optional) Bearing | 12×18×4 mm (ID × OD × W) — wheel axle bearing | 3 | — | Amazon | ¥6 | [tmall](https://detail.tmall.com/item.htm?id=824704356695) | ₹50 | [Robu.in](https://robu.in/) | | Bearing | 4×13×5 mm (ID × OD × W) — lift axis bearing | 8 | — | Amazon | ¥3 | [taobao](https://item.taobao.com/item.htm?id=565418362178) | ₹40 | [Robu.in](https://robu.in/) | -| M2×12 Phillips screw | For camera mounts (OB_T_Camera_Mount.stl, OB_Top_Camera_Mount) | 12 | — | — | — | — | -| M3×12 hex socket screw | Total 36 pcs (Servo Mount×24 ,Side Panel×12 ) | 36 | — | — | — | — | -| M3×18 hex socket screw | For OB_Chassis_Wheel_Axle_Connector.stl | 12 | — | — | — | — | -| M3×30 hex socket screw | For OB_T_Connector_Right/Left.stl | 8 | — | — | — | — | -| M3 hex nut | For OB_T_Connector_Right/Left.stl | 8 | — | — | — | — | +| M2×12 Phillips screw | For camera mounts (OB_T_Camera_Mount.stl, OB_Top_Camera_Mount) | 12 | — | — | — | — | — | — | +| M3×12 hex socket screw | Total 36 pcs (Servo Mount×24 ,Side Panel×12 ) | 36 | — | — | — | — | — | — | +| M3×18 hex socket screw | For OB_Chassis_Wheel_Axle_Connector.stl | 12 | — | — | — | — | — | — | +| M3×30 hex socket screw | For OB_T_Connector_Right/Left.stl | 8 | — | — | — | — | — | — | +| M3 hex nut | For OB_T_Connector_Right/Left.stl | 8 | — | — | — | — | — | — | | M3x5x4 heat-set insert | Total 36 pcs (Servo Mount×24, Side Panel×12) | 36 | — | Amazon | ¥5 | [taobao](https://item.taobao.com/item.htm?id=809241671998) | ₹8 | [Robu.in](https://robu.in/product/heat-set-insert-m3x5x4-brass/) | -| M4×12 hex socket screw | Total 20 pcs (Bearing Cover×12, Z-axis Servo Mount×8) | 20 | — | Amazon | — | — | +| M4×12 hex socket screw | Total 20 pcs (Bearing Cover×12, Z-axis Servo Mount×8) | 20 | — | Amazon | — | — | — | — | | M4x6x5 heat-set insert | For OB_Chassis_Bearing_Cover.stl | 12 | — | Amazon | ¥4 | [taobao](https://item.taobao.com/item.htm?id=809241671998) | ₹10 | [Robu.in](https://robu.in/product/heat-set-insert-m4x6x5-brass/) | | Adhesive | Epoxy (strongly recommended) / double-sided tape — cable retention & structural bonding | 1 | — | Amazon | ¥12 | [jd](https://item.jd.com/100141557259.html) | ₹200 | [Robu.in](https://robu.in/) | | Servo extension cable | SCS 3-pin, 90 cm | 2 | — | [Alibaba](https://www.alibaba.com/product-detail/3P-5264-Interface-Bus-Actuator-Connection_1601635790774.html?spm=a2747.product_manager.0.0.5a3e71d2sTo6Ho) | ¥3 | [taobao](https://item.taobao.com/item.htm?id=616460581906) | ₹156 | [Robu.in](https://robu.in/product-category/dc-motors/motors/servo-motors/servo-motor-wire/jr-servo-cable/) | | Battery | 12 V Li-ion pack with 5521 barrel jack (male & female); one pack for the Raspberry Pi 5, the other for the mobile base and follower arms.| 2 | $43 | [Amazon](https://www.amazon.com/KBT-Rechargeable-Connector-Replacement-Security/dp/B0C242DYT1/ref=sr_1_2_sspa?th=1) | ¥130 | [taobao](https://item.taobao.com/item.htm?id=890828103056) | ₹1,500 | [Robu.in](https://robu.in/) | | USB Type-C cable | Only for testing the mobile base | 1 | $10 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) | ¥20 | [tmall](https://detail.tmall.com/item.htm?id=754024805047) | ₹250 | [Robu.in](https://robu.in/product-category/cables-and-connectors/usb-cables/) | | Waveshare Bus Servo Controller | Only for testing the mobile base | 1 | $13 | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | ¥27 | [tmall](https://detail.tmall.com/item.htm?id=738817173460) | ₹1,200 | [Robu.in](https://robu.in/) | -| 3D-printed parts | PLA/PETG/ABS (files in /hardware/mobile_base/stl) | ~4 kg filament | — | — | — | — | +| 3D-printed parts | PLA/PETG/ABS (files in /hardware/mobile_base/stl) | ~4 kg filament | — | — | — | — | — | — | **3D Printing Parts List:** - OB_Chassis_Bearing_Cover x3 @@ -80,7 +80,7 @@ If you prefer the base to operate as an **independent host system** (Wi‑Fi, un | Item | Model / Notes | Qty | Unit Cost (US) | Buy (US) | Unit Cost (CN) | Buy (CN) | Unit Cost (IN) | Buy (IN) | -|------|---------------|-----|----------------|----------|----------------|----------| +|------|---------------|-----|----------------|----------|----------------|----------|----------------|----------| | Compute board | Raspberry Pi 5 (4GB/8GB) | 1 | $80 | [Adafruit](https://www.adafruit.com/product/5812) | ¥600 | [taobao](https://item.taobao.com/item.htm?id=688878446695) | ₹6,000 | [Robu.in](https://robu.in/product/raspberry-pi-5-8gb-ram/) | | DC converter | 12V → 5V / 5A buck converter | 1 | $13 | [Amazon](https://www.amazon.com/Klnuoxj-Converter-Interface-Waterproof-Compatible/dp/B0CRVW7N2J?source=ps-sl-shoppingads-lpcontext&ref_=fplfs&smid=A1QRG6NHEUKUZO&gQT=0&th=1) | ¥75 | [taobao](https://item.taobao.com/item.htm?id=800698078303) | ₹400 | [Robu.in](https://robu.in/) | | Monitor | 7-inch HD IPS HDMI interface + touch + Type C power supply | 1 | — | Amazon | ¥291 | [taobao](https://item.taobao.com/item.htm?id=592070943040) | ₹3,000 | [Amazon.in](https://amazon.in) | @@ -88,14 +88,14 @@ If you prefer the base to operate as an **independent host system** (Wi‑Fi, un ## Follower Arms | Item | Model / Notes | Qty | Unit Cost (US) | Buy (US) | Unit Cost (CN) | Buy (CN) | Unit Cost (IN) | Buy (IN) | -|------|---------------|-----|----------------|----------|----------------|----------| +|------|---------------|-----|----------------|----------|----------------|----------|----------------|----------| | Servo motor | Feetech / 12V 1/345 Gear(STS3215-C018) | 12 | $13.89 | [Alibaba](https://www.alibaba.com/product-detail/Feetech-12V-1-345-STS3215-C018_1601637205886.html?spm=a2700.micro_product_manager.0.0.5d083e5fucb6WW) | ¥110 | [taobao](https://item.taobao.com/item.htm?id=996544351583&spm=a213gs.v2success.0.0.73c04831naDrHP) | ₹1,500 | [Robu.in](https://robu.in/) | | Waveshare Bus Servo Controller | For connecting to the Raspberry Pi 5 | 2 | $13 | [Amazon](amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | ¥27 | [tmall](https://detail.tmall.com/item.htm?id=738817173460) | ₹1,200 | [Robu.in](https://robu.in/) | | USB camera | 720p focal length 3.8 mm, 32×32 mm form factor | 2 | — | Amazon | ¥103 | [taobao](https://item.taobao.com/item.htm?id=590682120464) | ₹800 | [Robu.in](https://robu.in/) | | 1-to-2 DC splitter cable | 30 cm, 5521 connector — for powering the arms | 1 | — | Amazon | ¥5 | [taobao](https://item.taobao.com/item.htm?id=594921965049) | ₹5 | [Robu.in](https://robu.in/product/1-to-2-dc-splitter-cable-30cm-5521-connector/) | | DC extension cable | 1.5 m, 5521 connector — for powering the arms | 2 | — | Amazon | ¥2.50 | [taobao](https://item.taobao.com/item.htm?id=43628177900) | ₹2.50 | [Robu.in](https://robu.in/product/dc-extension-cable-1-5m-5521-connector/) | | USB Type-C cable | For connecting to the Raspberry Pi 5 | 2 | $10 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) | ¥20 | [tmall](https://detail.tmall.com/item.htm?id=754024805047) | ₹250 | [Robu.in](https://robu.in/product-category/cables-and-connectors/usb-cables/) | -| 3D-printed parts | PLA/PETG/ABS (files in /hardware/arms/stl) | 1 set | — | — | — | — | +| 3D-printed parts | PLA/PETG/ABS (files in /hardware/arms/stl) | 1 set | — | — | — | — | — | — | **3D Printing Parts List:** @@ -110,13 +110,13 @@ For detailed printing instructions, refer to the [SO-ARM100 project README](http > **Note:** The official SO-ARM100 design uses three different gear ratios (1/147, 1/191, 1/345) for optimal performance. However, our testing shows that using a single gear ratio (1/147) provides excellent user experience and significantly simplifies assembly. The BOM below reflects this simplified configuration. | Item | Model / Notes | Qty | Unit Cost (US) | Buy (US) | Unit Cost (CN) | Buy (CN) | Unit Cost (IN) | Buy (IN) | -|------|---------------|-----|----------------|----------|----------------|----------| +|------|---------------|-----|----------------|----------|----------------|----------|----------------|----------| | Servo motor | Feetech / 7.4V 1/147 Gear(STS3215-C046) | 12 | $13.89 | [Alibaba](https://www.alibaba.com/product-detail/Feetech-STS3215-Servos-Feetech-7-4V_1601636218844.html?spm=a2700.micro_product_manager.0.0.5d083e5fucb6WW) | ¥99 | [taobao](https://item.taobao.com/item.htm?id=996544351583&spm=a213gs.v2success.0.0.73c04831naDrHP) | ₹1,400 | [Robu.in](https://robu.in/) | | Waveshare Bus Servo Controller | For connecting to the PC | 2 | $13 | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | ¥27 | [tmall](https://detail.tmall.com/item.htm?id=738817173460) | ₹1,200 | [Robu.in](https://robu.in/) | | Battery | 5V Li-ion pack (5600mAh, DC 5521 connector) | 1 | — | Amazon | ¥30 | [taobao](https://item.taobao.com/item.htm?id=765749120668) | ₹300 | [Robu.in](https://robu.in/) | | 1-to-2 DC splitter cable | 70 cm — for powering the arms | 1 | — | Amazon | ¥5 | [taobao](https://item.taobao.com/item.htm?id=594921965049) | ₹5 | [Robu.in](https://robu.in/product/1-to-2-dc-splitter-cable-70cm/) | | USB Type-C cable | For connecting to the PC | 2 | $10 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) | ¥20 | [tmall](https://detail.tmall.com/item.htm?id=754024805047) | ₹250 | [Robu.in](https://robu.in/product-category/cables-and-connectors/usb-cables/) | -| 3D-printed parts | PLA/PETG/ABS (files in /hardware/arms/stl) | 1 set | — | — | — | — | +| 3D-printed parts | PLA/PETG/ABS (files in /hardware/arms/stl) | 1 set | — | — | — | — | — | — | **3D Printing Parts List:** - All "D_*.stl" files: x2 From 599daa707a313cc83c58c7d641abd2cb552c10aa Mon Sep 17 00:00:00 2001 From: Ankit Khandelwal Date: Sat, 24 Jan 2026 08:56:57 +0530 Subject: [PATCH 3/5] Fixed links --- docs/BOM.md | 32 ++++++++++++++++---------------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/docs/BOM.md b/docs/BOM.md index 35c0e28..18d8d31 100644 --- a/docs/BOM.md +++ b/docs/BOM.md @@ -17,11 +17,11 @@ On AlohaMini, the Host side consists of a PC workstation and leader arms. VR con | Item | Model / Notes | Qty | Unit Cost (US) | Buy (US) | Unit Cost (CN) | Buy (CN) | Unit Cost (IN) | Buy (IN) | |------|---------------|-----|----------------|----------|----------------|----------|----------------|----------| -| Servo motor | Feetech / 12V 1/345 Gear(STS3215-C018)| 4 | $13.89 | [Alibaba](https://www.alibaba.com/product-detail/Feetech-12V-1-345-STS3215-C018_1601637205886.html?spm=a2700.micro_product_manager.0.0.5d083e5fucb6WW) | ¥110 | [taobao](https://item.taobao.com/item.htm?id=996544351583&spm=a213gs.v2success.0.0.73c04831naDrHP) | ₹1,500 | [Robu.in](https://robu.in/) | -| Omni wheel | 4″ (≈100 mm) | 3 | $47 | [Amazon](https://www.amazon.com/Replacement-Plastic-Directional-Accessories-Platform/dp/B0F9W6QX5M/ref=sr_1_1?crid=RUB7HLFVFAW4&dib=eyJ2IjoiMSJ9.OEVluSHnKdSoUssYPqqvc9zDttA_kPqToxcIUPC9mVE.lDKJEFZ-n8SldCgHwC__Ikus8FGKxQcuN14cjtG5WHQ&dib_tag=se&keywords=Omni-Directional+Wheels+4&qid=1762964120&sprefix=omni-directional+wheels+4%2Caps%2C938&sr=8-1) | ¥135 | [pinduoduo](https://mobile.yangkeduo.com/goods.html?ps=kKWPC7xuzw) | ₹210 | [Robu.in](https://robu.in/product/80mm-a-mecanum-wheel-compatible-with-6-7mm-coupling-pack-of-4-yellow/) | -| USB camera | 720p focal length 2.4 mm, 36×36 mm form factor | 3 | — | Amazon | ¥125 | [taobao](https://item.taobao.com/item.htm?id=666278411821) | ₹800 | [Robu.in](https://robu.in/) | -| (optional) Bearing | 12×18×4 mm (ID × OD × W) — wheel axle bearing | 3 | — | Amazon | ¥6 | [tmall](https://detail.tmall.com/item.htm?id=824704356695) | ₹50 | [Robu.in](https://robu.in/) | -| Bearing | 4×13×5 mm (ID × OD × W) — lift axis bearing | 8 | — | Amazon | ¥3 | [taobao](https://item.taobao.com/item.htm?id=565418362178) | ₹40 | [Robu.in](https://robu.in/) | +| Servo motor | Feetech / 12V 1/345 Gear(STS3215-C018)| 4 | $13.89 | [Alibaba](https://www.alibaba.com/product-detail/Feetech-12V-1-345-STS3215-C018_1601637205886.html?spm=a2700.micro_product_manager.0.0.5d083e5fucb6WW) | ¥110 | [taobao](https://item.taobao.com/item.htm?id=996544351583&spm=a213gs.v2success.0.0.73c04831naDrHP) | ₹1,949.99 | [ThinkRobotics](https://thinkrobotics.com/products/30kg-serial-bus-servo-high-precision-and-torque-with-encoder?variant=44399778169149&country=IN¤cy=INR) | +| Omni wheel | 4″ (≈100 mm) | 3 | $47 | [Amazon](https://www.amazon.com/Replacement-Plastic-Directional-Accessories-Platform/dp/B0F9W6QX5M/ref=sr_1_1?crid=RUB7HLFVFAW4&dib=eyJ2IjoiMSJ9.OEVluSHnKdSoUssYPqqvc9zDttA_kPqToxcIUPC9mVE.lDKJEFZ-n8SldCgHwC__Ikus8FGKxQcuN14cjtG5WHQ&dib_tag=se&keywords=Omni-Directional+Wheels+4&qid=1762964120&sprefix=omni-directional+wheels+4%2Caps%2C938&sr=8-1) | ¥135 | [pinduoduo](https://mobile.yangkeduo.com/goods.html?ps=kKWPC7xuzw) | ₹210 | [Robu.in](https://robu.in/product/100mm-double-plastic-omni-wheel-bush-rollers-high-quality-grey/) | +| USB camera | 720p focal length 2.4 mm, 36×36 mm form factor | 3 | — | Amazon | ¥125 | [taobao](https://item.taobao.com/item.htm?id=666278411821) | ₹3,649.99 | [ThinkRobotics](https://thinkrobotics.com/products/imx335-5mp-usb-camera-c-2k-video-recording-wide-dynamic-range?variant=50983038484797&country=IN¤cy=INR) | +| (optional) Bearing | 12×18×4 mm (ID × OD × W) — wheel axle bearing | 3 | — | Amazon | ¥6 | [tmall](https://detail.tmall.com/item.htm?id=824704356695) | ₹50 | — | +| Bearing | 4×13×5 mm (ID × OD × W) — lift axis bearing | 8 | — | Amazon | ¥3 | [taobao](https://item.taobao.com/item.htm?id=565418362178) | ₹40 | — | | M2×12 Phillips screw | For camera mounts (OB_T_Camera_Mount.stl, OB_Top_Camera_Mount) | 12 | — | — | — | — | — | — | | M3×12 hex socket screw | Total 36 pcs (Servo Mount×24 ,Side Panel×12 ) | 36 | — | — | — | — | — | — | | M3×18 hex socket screw | For OB_Chassis_Wheel_Axle_Connector.stl | 12 | — | — | — | — | — | — | @@ -30,11 +30,11 @@ On AlohaMini, the Host side consists of a PC workstation and leader arms. VR con | M3x5x4 heat-set insert | Total 36 pcs (Servo Mount×24, Side Panel×12) | 36 | — | Amazon | ¥5 | [taobao](https://item.taobao.com/item.htm?id=809241671998) | ₹8 | [Robu.in](https://robu.in/product/heat-set-insert-m3x5x4-brass/) | | M4×12 hex socket screw | Total 20 pcs (Bearing Cover×12, Z-axis Servo Mount×8) | 20 | — | Amazon | — | — | — | — | | M4x6x5 heat-set insert | For OB_Chassis_Bearing_Cover.stl | 12 | — | Amazon | ¥4 | [taobao](https://item.taobao.com/item.htm?id=809241671998) | ₹10 | [Robu.in](https://robu.in/product/heat-set-insert-m4x6x5-brass/) | -| Adhesive | Epoxy (strongly recommended) / double-sided tape — cable retention & structural bonding | 1 | — | Amazon | ¥12 | [jd](https://item.jd.com/100141557259.html) | ₹200 | [Robu.in](https://robu.in/) | +| Adhesive | Epoxy (strongly recommended) / double-sided tape — cable retention & structural bonding | 1 | — | Amazon | ¥12 | [jd](https://item.jd.com/100141557259.html) | ₹200 | — | | Servo extension cable | SCS 3-pin, 90 cm | 2 | — | [Alibaba](https://www.alibaba.com/product-detail/3P-5264-Interface-Bus-Actuator-Connection_1601635790774.html?spm=a2747.product_manager.0.0.5a3e71d2sTo6Ho) | ¥3 | [taobao](https://item.taobao.com/item.htm?id=616460581906) | ₹156 | [Robu.in](https://robu.in/product-category/dc-motors/motors/servo-motors/servo-motor-wire/jr-servo-cable/) | -| Battery | 12 V Li-ion pack with 5521 barrel jack (male & female); one pack for the Raspberry Pi 5, the other for the mobile base and follower arms.| 2 | $43 | [Amazon](https://www.amazon.com/KBT-Rechargeable-Connector-Replacement-Security/dp/B0C242DYT1/ref=sr_1_2_sspa?th=1) | ¥130 | [taobao](https://item.taobao.com/item.htm?id=890828103056) | ₹1,500 | [Robu.in](https://robu.in/) | +| Battery | 12 V Li-ion pack with 5521 barrel jack (male & female); one pack for the Raspberry Pi 5, the other for the mobile base and follower arms.| 2 | $43 | [Amazon](https://www.amazon.com/KBT-Rechargeable-Connector-Replacement-Security/dp/B0C242DYT1/ref=sr_1_2_sspa?th=1) | ¥130 | [taobao](https://item.taobao.com/item.htm?id=890828103056) | ₹1,500 | [REES52](https://rees52.com/products/12v-lithium-ion-rechargeable-battery-pack-2200mah-fast-charging-india-rees52) | | USB Type-C cable | Only for testing the mobile base | 1 | $10 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) | ¥20 | [tmall](https://detail.tmall.com/item.htm?id=754024805047) | ₹250 | [Robu.in](https://robu.in/product-category/cables-and-connectors/usb-cables/) | -| Waveshare Bus Servo Controller | Only for testing the mobile base | 1 | $13 | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | ¥27 | [tmall](https://detail.tmall.com/item.htm?id=738817173460) | ₹1,200 | [Robu.in](https://robu.in/) | +| Waveshare Bus Servo Controller | Only for testing the mobile base | 1 | $13 | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | ¥27 | [tmall](https://detail.tmall.com/item.htm?id=738817173460) | ₹1,200 | — | | 3D-printed parts | PLA/PETG/ABS (files in /hardware/mobile_base/stl) | ~4 kg filament | — | — | — | — | — | — | **3D Printing Parts List:** @@ -82,16 +82,16 @@ If you prefer the base to operate as an **independent host system** (Wi‑Fi, un | Item | Model / Notes | Qty | Unit Cost (US) | Buy (US) | Unit Cost (CN) | Buy (CN) | Unit Cost (IN) | Buy (IN) | |------|---------------|-----|----------------|----------|----------------|----------|----------------|----------| | Compute board | Raspberry Pi 5 (4GB/8GB) | 1 | $80 | [Adafruit](https://www.adafruit.com/product/5812) | ¥600 | [taobao](https://item.taobao.com/item.htm?id=688878446695) | ₹6,000 | [Robu.in](https://robu.in/product/raspberry-pi-5-8gb-ram/) | -| DC converter | 12V → 5V / 5A buck converter | 1 | $13 | [Amazon](https://www.amazon.com/Klnuoxj-Converter-Interface-Waterproof-Compatible/dp/B0CRVW7N2J?source=ps-sl-shoppingads-lpcontext&ref_=fplfs&smid=A1QRG6NHEUKUZO&gQT=0&th=1) | ¥75 | [taobao](https://item.taobao.com/item.htm?id=800698078303) | ₹400 | [Robu.in](https://robu.in/) | -| Monitor | 7-inch HD IPS HDMI interface + touch + Type C power supply | 1 | — | Amazon | ¥291 | [taobao](https://item.taobao.com/item.htm?id=592070943040) | ₹3,000 | [Amazon.in](https://amazon.in) | +| DC converter | 12V → 5V / 5A buck converter | 1 | $13 | [Amazon](https://www.amazon.com/Klnuoxj-Converter-Interface-Waterproof-Compatible/dp/B0CRVW7N2J?source=ps-sl-shoppingads-lpcontext&ref_=fplfs&smid=A1QRG6NHEUKUZO&gQT=0&th=1) | ¥75 | [taobao](https://item.taobao.com/item.htm?id=800698078303) | ₹400 | — | +| Monitor | 7-inch HD IPS HDMI interface + touch + Type C power supply | 1 | — | Amazon | ¥291 | [taobao](https://item.taobao.com/item.htm?id=592070943040) | ₹3,000 | [Robu.in](https://robu.in/product/waveshare-7inch-ips-touch-integrated-display-1024-x-600-thin-and-light-design-with-development-accessories/) | ## Follower Arms | Item | Model / Notes | Qty | Unit Cost (US) | Buy (US) | Unit Cost (CN) | Buy (CN) | Unit Cost (IN) | Buy (IN) | |------|---------------|-----|----------------|----------|----------------|----------|----------------|----------| -| Servo motor | Feetech / 12V 1/345 Gear(STS3215-C018) | 12 | $13.89 | [Alibaba](https://www.alibaba.com/product-detail/Feetech-12V-1-345-STS3215-C018_1601637205886.html?spm=a2700.micro_product_manager.0.0.5d083e5fucb6WW) | ¥110 | [taobao](https://item.taobao.com/item.htm?id=996544351583&spm=a213gs.v2success.0.0.73c04831naDrHP) | ₹1,500 | [Robu.in](https://robu.in/) | -| Waveshare Bus Servo Controller | For connecting to the Raspberry Pi 5 | 2 | $13 | [Amazon](amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | ¥27 | [tmall](https://detail.tmall.com/item.htm?id=738817173460) | ₹1,200 | [Robu.in](https://robu.in/) | -| USB camera | 720p focal length 3.8 mm, 32×32 mm form factor | 2 | — | Amazon | ¥103 | [taobao](https://item.taobao.com/item.htm?id=590682120464) | ₹800 | [Robu.in](https://robu.in/) | +| Servo motor | Feetech / 12V 1/345 Gear(STS3215-C018) | 12 | $13.89 | [Alibaba](https://www.alibaba.com/product-detail/Feetech-12V-1-345-STS3215-C018_1601637205886.html?spm=a2700.micro_product_manager.0.0.5d083e5fucb6WW) | ¥110 | [taobao](https://item.taobao.com/item.htm?id=996544351583&spm=a213gs.v2success.0.0.73c04831naDrHP) | ₹1,949.99 | [ThinkRobotics](https://thinkrobotics.com/products/30kg-serial-bus-servo-high-precision-and-torque-with-encoder?variant=44399778169149&country=IN¤cy=INR) | +| Waveshare Bus Servo Controller | For connecting to the Raspberry Pi 5 | 2 | $13 | [Amazon](amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | ¥27 | [tmall](https://detail.tmall.com/item.htm?id=738817173460) | ₹1,200 | — | +| USB camera | 720p focal length 3.8 mm, 32×32 mm form factor | 2 | — | Amazon | ¥103 | [taobao](https://item.taobao.com/item.htm?id=590682120464) | ₹3,649.99 | [ThinkRobotics](https://thinkrobotics.com/products/imx335-5mp-usb-camera-c-2k-video-recording-wide-dynamic-range?variant=50983038484797&country=IN¤cy=INR) | | 1-to-2 DC splitter cable | 30 cm, 5521 connector — for powering the arms | 1 | — | Amazon | ¥5 | [taobao](https://item.taobao.com/item.htm?id=594921965049) | ₹5 | [Robu.in](https://robu.in/product/1-to-2-dc-splitter-cable-30cm-5521-connector/) | | DC extension cable | 1.5 m, 5521 connector — for powering the arms | 2 | — | Amazon | ¥2.50 | [taobao](https://item.taobao.com/item.htm?id=43628177900) | ₹2.50 | [Robu.in](https://robu.in/product/dc-extension-cable-1-5m-5521-connector/) | | USB Type-C cable | For connecting to the Raspberry Pi 5 | 2 | $10 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) | ¥20 | [tmall](https://detail.tmall.com/item.htm?id=754024805047) | ₹250 | [Robu.in](https://robu.in/product-category/cables-and-connectors/usb-cables/) | @@ -111,9 +111,9 @@ For detailed printing instructions, refer to the [SO-ARM100 project README](http | Item | Model / Notes | Qty | Unit Cost (US) | Buy (US) | Unit Cost (CN) | Buy (CN) | Unit Cost (IN) | Buy (IN) | |------|---------------|-----|----------------|----------|----------------|----------|----------------|----------| -| Servo motor | Feetech / 7.4V 1/147 Gear(STS3215-C046) | 12 | $13.89 | [Alibaba](https://www.alibaba.com/product-detail/Feetech-STS3215-Servos-Feetech-7-4V_1601636218844.html?spm=a2700.micro_product_manager.0.0.5d083e5fucb6WW) | ¥99 | [taobao](https://item.taobao.com/item.htm?id=996544351583&spm=a213gs.v2success.0.0.73c04831naDrHP) | ₹1,400 | [Robu.in](https://robu.in/) | -| Waveshare Bus Servo Controller | For connecting to the PC | 2 | $13 | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | ¥27 | [tmall](https://detail.tmall.com/item.htm?id=738817173460) | ₹1,200 | [Robu.in](https://robu.in/) | -| Battery | 5V Li-ion pack (5600mAh, DC 5521 connector) | 1 | — | Amazon | ¥30 | [taobao](https://item.taobao.com/item.htm?id=765749120668) | ₹300 | [Robu.in](https://robu.in/) | +| Servo motor | Feetech / 7.4V 1/147 Gear(STS3215-C046) | 12 | $13.89 | [Alibaba](https://www.alibaba.com/product-detail/Feetech-STS3215-Servos-Feetech-7-4V_1601636218844.html?spm=a2700.micro_product_manager.0.0.5d083e5fucb6WW) | ¥99 | [taobao](https://item.taobao.com/item.htm?id=996544351583&spm=a213gs.v2success.0.0.73c04831naDrHP) | ₹1,400 | — | +| Waveshare Bus Servo Controller | For connecting to the PC | 2 | $13 | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | ¥27 | [tmall](https://detail.tmall.com/item.htm?id=738817173460) | ₹1,200 | — | +| Battery | 5V Li-ion pack (5600mAh, DC 5521 connector) | 1 | — | Amazon | ¥30 | [taobao](https://item.taobao.com/item.htm?id=765749120668) | ₹300 | — | | 1-to-2 DC splitter cable | 70 cm — for powering the arms | 1 | — | Amazon | ¥5 | [taobao](https://item.taobao.com/item.htm?id=594921965049) | ₹5 | [Robu.in](https://robu.in/product/1-to-2-dc-splitter-cable-70cm/) | | USB Type-C cable | For connecting to the PC | 2 | $10 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) | ¥20 | [tmall](https://detail.tmall.com/item.htm?id=754024805047) | ₹250 | [Robu.in](https://robu.in/product-category/cables-and-connectors/usb-cables/) | | 3D-printed parts | PLA/PETG/ABS (files in /hardware/arms/stl) | 1 set | — | — | — | — | — | — | From 25f4683c781bc5d31adcc329a9ea90950d3e495e Mon Sep 17 00:00:00 2001 From: Ankit Khandelwal Date: Tue, 3 Feb 2026 14:51:15 +0530 Subject: [PATCH 4/5] Updated links for India --- docs/BOM.md | 28 ++++++++++++++-------------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/docs/BOM.md b/docs/BOM.md index 18d8d31..2f318e8 100644 --- a/docs/BOM.md +++ b/docs/BOM.md @@ -17,24 +17,24 @@ On AlohaMini, the Host side consists of a PC workstation and leader arms. VR con | Item | Model / Notes | Qty | Unit Cost (US) | Buy (US) | Unit Cost (CN) | Buy (CN) | Unit Cost (IN) | Buy (IN) | |------|---------------|-----|----------------|----------|----------------|----------|----------------|----------| -| Servo motor | Feetech / 12V 1/345 Gear(STS3215-C018)| 4 | $13.89 | [Alibaba](https://www.alibaba.com/product-detail/Feetech-12V-1-345-STS3215-C018_1601637205886.html?spm=a2700.micro_product_manager.0.0.5d083e5fucb6WW) | ¥110 | [taobao](https://item.taobao.com/item.htm?id=996544351583&spm=a213gs.v2success.0.0.73c04831naDrHP) | ₹1,949.99 | [ThinkRobotics](https://thinkrobotics.com/products/30kg-serial-bus-servo-high-precision-and-torque-with-encoder?variant=44399778169149&country=IN¤cy=INR) | -| Omni wheel | 4″ (≈100 mm) | 3 | $47 | [Amazon](https://www.amazon.com/Replacement-Plastic-Directional-Accessories-Platform/dp/B0F9W6QX5M/ref=sr_1_1?crid=RUB7HLFVFAW4&dib=eyJ2IjoiMSJ9.OEVluSHnKdSoUssYPqqvc9zDttA_kPqToxcIUPC9mVE.lDKJEFZ-n8SldCgHwC__Ikus8FGKxQcuN14cjtG5WHQ&dib_tag=se&keywords=Omni-Directional+Wheels+4&qid=1762964120&sprefix=omni-directional+wheels+4%2Caps%2C938&sr=8-1) | ¥135 | [pinduoduo](https://mobile.yangkeduo.com/goods.html?ps=kKWPC7xuzw) | ₹210 | [Robu.in](https://robu.in/product/100mm-double-plastic-omni-wheel-bush-rollers-high-quality-grey/) | -| USB camera | 720p focal length 2.4 mm, 36×36 mm form factor | 3 | — | Amazon | ¥125 | [taobao](https://item.taobao.com/item.htm?id=666278411821) | ₹3,649.99 | [ThinkRobotics](https://thinkrobotics.com/products/imx335-5mp-usb-camera-c-2k-video-recording-wide-dynamic-range?variant=50983038484797&country=IN¤cy=INR) | +| Servo motor | Feetech / 12V 1/345 Gear(STS3215-C018)| 4 | $13.89 | [Alibaba](https://www.alibaba.com/product-detail/Feetech-12V-1-345-STS3215-C018_1601637205886.html?spm=a2700.micro_product_manager.0.0.5d083e5fucb6WW) | ¥110 | [taobao](https://item.taobao.com/item.htm?id=996544351583&spm=a213gs.v2success.0.0.73c04831naDrHP) | ₹2,149 | [Hubtronics](https://www.hubtronics.in/st3215-servo) | +| Omni wheel | 4″ (≈100 mm) | 3 | $47 | [Amazon](https://www.amazon.com/Replacement-Plastic-Directional-Accessories-Platform/dp/B0F9W6QX5M/ref=sr_1_1?crid=RUB7HLFVFAW4&dib=eyJ2IjoiMSJ9.OEVluSHnKdSoUssYPqqvc9zDttA_kPqToxcIUPC9mVE.lDKJEFZ-n8SldCgHwC__Ikus8FGKxQcuN14cjtG5WHQ&dib_tag=se&keywords=Omni-Directional+Wheels+4&qid=1762964120&sprefix=omni-directional+wheels+4%2Caps%2C938&sr=8-1) | ¥135 | [pinduoduo](https://mobile.yangkeduo.com/goods.html?ps=kKWPC7xuzw) | ₹1,369.98 | [RoboKits](https://robokits.co.in/robot-wheels/omni-wheels/premium-quality-brass-roller-bearing-omni-wheel-dual-row-100mm-dia) | +| USB camera | 720p focal length 2.4 mm, 36×36 mm form factor | 3 | — | Amazon | ¥125 | [taobao](https://item.taobao.com/item.htm?id=666278411821) | ₹4,139 | [UBuy](https://www.ubuy.co.in/product/G0XGIXU-elp-megapixel-super-mini-720p-usb-camera-module-with-120degree-lens) | | (optional) Bearing | 12×18×4 mm (ID × OD × W) — wheel axle bearing | 3 | — | Amazon | ¥6 | [tmall](https://detail.tmall.com/item.htm?id=824704356695) | ₹50 | — | | Bearing | 4×13×5 mm (ID × OD × W) — lift axis bearing | 8 | — | Amazon | ¥3 | [taobao](https://item.taobao.com/item.htm?id=565418362178) | ₹40 | — | -| M2×12 Phillips screw | For camera mounts (OB_T_Camera_Mount.stl, OB_Top_Camera_Mount) | 12 | — | — | — | — | — | — | -| M3×12 hex socket screw | Total 36 pcs (Servo Mount×24 ,Side Panel×12 ) | 36 | — | — | — | — | — | — | +| M2×12 Phillips screw | For camera mounts (OB_T_Camera_Mount.stl, OB_Top_Camera_Mount) | 12 | — | — | — | — | — | [OnlyScrews](https://onlyscrews.in/products/m2-x-12mm-phillips-pan-head-ss-304-screw?variant=49716930314553) | +| M3×12 hex socket screw | Total 36 pcs (Servo Mount×24 ,Side Panel×12 ) | 36 | — | — | — | — | — | [OnlyScrews](https://onlyscrews.in/products/m3-x-12mm-hex-allen-socket-head-high-tensile12-9-black-anodized-screw?variant=49862396903737) | | M3×18 hex socket screw | For OB_Chassis_Wheel_Axle_Connector.stl | 12 | — | — | — | — | — | — | -| M3×30 hex socket screw | For OB_T_Connector_Right/Left.stl | 8 | — | — | — | — | — | — | -| M3 hex nut | For OB_T_Connector_Right/Left.stl | 8 | — | — | — | — | — | — | -| M3x5x4 heat-set insert | Total 36 pcs (Servo Mount×24, Side Panel×12) | 36 | — | Amazon | ¥5 | [taobao](https://item.taobao.com/item.htm?id=809241671998) | ₹8 | [Robu.in](https://robu.in/product/heat-set-insert-m3x5x4-brass/) | -| M4×12 hex socket screw | Total 20 pcs (Bearing Cover×12, Z-axis Servo Mount×8) | 20 | — | Amazon | — | — | — | — | +| M3×30 hex socket screw | For OB_T_Connector_Right/Left.stl | 8 | — | — | — | — | — | [OnlyScrews](https://onlyscrews.in/products/m3-x-30mm-hex-allen-button-head-hight-tensile10-9-black-oxide-screw-dia-3mm-length-30mm?variant=51255465247033) | +| M3 hex nut | For OB_T_Connector_Right/Left.stl | 8 | — | — | — | — | — | [OnlyScrews](https://onlyscrews.in/products/m3-nut-ss-304?variant=48892379988281) | +| M3x5x4 heat-set insert | Total 36 pcs (Servo Mount×24, Side Panel×12) | 36 | — | Amazon | ¥5 | [taobao](https://item.taobao.com/item.htm?id=809241671998) | ₹8 | [DC3D](https://dc3d.in/shop/hardwares/m3-brass-heat-set-insert/) | +| M4×12 hex socket screw | Total 20 pcs (Bearing Cover×12, Z-axis Servo Mount×8) | 20 | — | Amazon | — | — | — | [OnlyScrews](https://onlyscrews.in/products/m4-x-12mm-hex-allen-socket-head-high-tensile12-9-black-anodized-screw?variant=49862768329017) | | M4x6x5 heat-set insert | For OB_Chassis_Bearing_Cover.stl | 12 | — | Amazon | ¥4 | [taobao](https://item.taobao.com/item.htm?id=809241671998) | ₹10 | [Robu.in](https://robu.in/product/heat-set-insert-m4x6x5-brass/) | -| Adhesive | Epoxy (strongly recommended) / double-sided tape — cable retention & structural bonding | 1 | — | Amazon | ¥12 | [jd](https://item.jd.com/100141557259.html) | ₹200 | — | -| Servo extension cable | SCS 3-pin, 90 cm | 2 | — | [Alibaba](https://www.alibaba.com/product-detail/3P-5264-Interface-Bus-Actuator-Connection_1601635790774.html?spm=a2747.product_manager.0.0.5a3e71d2sTo6Ho) | ¥3 | [taobao](https://item.taobao.com/item.htm?id=616460581906) | ₹156 | [Robu.in](https://robu.in/product-category/dc-motors/motors/servo-motors/servo-motor-wire/jr-servo-cable/) | -| Battery | 12 V Li-ion pack with 5521 barrel jack (male & female); one pack for the Raspberry Pi 5, the other for the mobile base and follower arms.| 2 | $43 | [Amazon](https://www.amazon.com/KBT-Rechargeable-Connector-Replacement-Security/dp/B0C242DYT1/ref=sr_1_2_sspa?th=1) | ¥130 | [taobao](https://item.taobao.com/item.htm?id=890828103056) | ₹1,500 | [REES52](https://rees52.com/products/12v-lithium-ion-rechargeable-battery-pack-2200mah-fast-charging-india-rees52) | -| USB Type-C cable | Only for testing the mobile base | 1 | $10 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) | ¥20 | [tmall](https://detail.tmall.com/item.htm?id=754024805047) | ₹250 | [Robu.in](https://robu.in/product-category/cables-and-connectors/usb-cables/) | -| Waveshare Bus Servo Controller | Only for testing the mobile base | 1 | $13 | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | ¥27 | [tmall](https://detail.tmall.com/item.htm?id=738817173460) | ₹1,200 | — | +| Adhesive | Epoxy (strongly recommended) / double-sided tape — cable retention & structural bonding | 1 | — | Amazon | ¥12 | [jd](https://item.jd.com/100141557259.html) | - | — | +| Servo extension cable | SCS 3-pin, 90 cm | 2 | — | [Alibaba](https://www.alibaba.com/product-detail/3P-5264-Interface-Bus-Actuator-Connection_1601635790774.html?spm=a2747.product_manager.0.0.5a3e71d2sTo6Ho) | ¥3 | [taobao](https://item.taobao.com/item.htm?id=616460581906) | - | - | +| Battery | 12 V Li-ion pack with 5521 barrel jack (male & female); one pack for the Raspberry Pi 5, the other for the mobile base and follower arms.| 2 | $43 | [Amazon](https://www.amazon.com/KBT-Rechargeable-Connector-Replacement-Security/dp/B0C242DYT1/ref=sr_1_2_sspa?th=1) | ¥130 | [taobao](https://item.taobao.com/item.htm?id=890828103056) | ₹1,377 | [Amazon](https://www.amazon.in/Rechargeable-Lithium-ion-11-1V-12-6V-Industrial-Applications/dp/B0F5BH2LSZ?th=1) | +| USB Type-C cable | Only for testing the mobile base | 1 | $10 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) | ¥20 | [tmall](https://detail.tmall.com/item.htm?id=754024805047) | - | - | +| Waveshare Bus Servo Controller | Only for testing the mobile base | 1 | $13 | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | ¥27 | [tmall](https://detail.tmall.com/item.htm?id=738817173460) | - | — | | 3D-printed parts | PLA/PETG/ABS (files in /hardware/mobile_base/stl) | ~4 kg filament | — | — | — | — | — | — | **3D Printing Parts List:** From a157c3b9ee2d6608fe348835de1ba62a64895032 Mon Sep 17 00:00:00 2001 From: Ankit Khandelwal Date: Wed, 4 Feb 2026 20:02:18 +0530 Subject: [PATCH 5/5] Updated links --- docs/BOM.md | 26 +++++++++++++------------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/docs/BOM.md b/docs/BOM.md index 2f318e8..8736ef7 100644 --- a/docs/BOM.md +++ b/docs/BOM.md @@ -19,22 +19,22 @@ On AlohaMini, the Host side consists of a PC workstation and leader arms. VR con |------|---------------|-----|----------------|----------|----------------|----------|----------------|----------| | Servo motor | Feetech / 12V 1/345 Gear(STS3215-C018)| 4 | $13.89 | [Alibaba](https://www.alibaba.com/product-detail/Feetech-12V-1-345-STS3215-C018_1601637205886.html?spm=a2700.micro_product_manager.0.0.5d083e5fucb6WW) | ¥110 | [taobao](https://item.taobao.com/item.htm?id=996544351583&spm=a213gs.v2success.0.0.73c04831naDrHP) | ₹2,149 | [Hubtronics](https://www.hubtronics.in/st3215-servo) | | Omni wheel | 4″ (≈100 mm) | 3 | $47 | [Amazon](https://www.amazon.com/Replacement-Plastic-Directional-Accessories-Platform/dp/B0F9W6QX5M/ref=sr_1_1?crid=RUB7HLFVFAW4&dib=eyJ2IjoiMSJ9.OEVluSHnKdSoUssYPqqvc9zDttA_kPqToxcIUPC9mVE.lDKJEFZ-n8SldCgHwC__Ikus8FGKxQcuN14cjtG5WHQ&dib_tag=se&keywords=Omni-Directional+Wheels+4&qid=1762964120&sprefix=omni-directional+wheels+4%2Caps%2C938&sr=8-1) | ¥135 | [pinduoduo](https://mobile.yangkeduo.com/goods.html?ps=kKWPC7xuzw) | ₹1,369.98 | [RoboKits](https://robokits.co.in/robot-wheels/omni-wheels/premium-quality-brass-roller-bearing-omni-wheel-dual-row-100mm-dia) | -| USB camera | 720p focal length 2.4 mm, 36×36 mm form factor | 3 | — | Amazon | ¥125 | [taobao](https://item.taobao.com/item.htm?id=666278411821) | ₹4,139 | [UBuy](https://www.ubuy.co.in/product/G0XGIXU-elp-megapixel-super-mini-720p-usb-camera-module-with-120degree-lens) | -| (optional) Bearing | 12×18×4 mm (ID × OD × W) — wheel axle bearing | 3 | — | Amazon | ¥6 | [tmall](https://detail.tmall.com/item.htm?id=824704356695) | ₹50 | — | -| Bearing | 4×13×5 mm (ID × OD × W) — lift axis bearing | 8 | — | Amazon | ¥3 | [taobao](https://item.taobao.com/item.htm?id=565418362178) | ₹40 | — | -| M2×12 Phillips screw | For camera mounts (OB_T_Camera_Mount.stl, OB_Top_Camera_Mount) | 12 | — | — | — | — | — | [OnlyScrews](https://onlyscrews.in/products/m2-x-12mm-phillips-pan-head-ss-304-screw?variant=49716930314553) | -| M3×12 hex socket screw | Total 36 pcs (Servo Mount×24 ,Side Panel×12 ) | 36 | — | — | — | — | — | [OnlyScrews](https://onlyscrews.in/products/m3-x-12mm-hex-allen-socket-head-high-tensile12-9-black-anodized-screw?variant=49862396903737) | +| USB camera | 720p focal length 2.4 mm, 36×36 mm form factor | 3 | — | Amazon | ¥125 | [taobao](https://item.taobao.com/item.htm?id=666278411821) | ₹3,370 | [Hubtronics](https://hubtronics.in/imx335-5mp-usb-camera-b) | +| (optional) Bearing | 12×18×4 mm (ID × OD × W) — wheel axle bearing | 3 | — | Amazon | ¥6 | [tmall](https://detail.tmall.com/item.htm?id=824704356695) | ₹72 | [Flyrobo](https://www.flyrobo.in/100cm-jr-male-futaba-female-servo-extension-cable) | +| Bearing | 4×13×5 mm (ID × OD × W) — lift axis bearing | 8 | — | Amazon | ¥3 | [taobao](https://item.taobao.com/item.htm?id=565418362178) | ₹15 | [Flyrobo](https://www.flyrobo.in/mini-ball-bearing-624zz4x13x5) | +| M2×12 Phillips screw | For camera mounts (OB_T_Camera_Mount.stl, OB_Top_Camera_Mount) | 12 | — | — | — | — | ₹2.60 | [OnlyScrews](https://onlyscrews.in/products/m2-x-12mm-phillips-pan-head-ss-304-screw?variant=49716930314553) | +| M3×12 hex socket screw | Total 36 pcs (Servo Mount×24 ,Side Panel×12 ) | 36 | — | — | — | — | ₹2.20 | [OnlyScrews](https://onlyscrews.in/products/m3-x-12mm-hex-allen-socket-head-high-tensile12-9-black-anodized-screw?variant=49862396903737) | | M3×18 hex socket screw | For OB_Chassis_Wheel_Axle_Connector.stl | 12 | — | — | — | — | — | — | -| M3×30 hex socket screw | For OB_T_Connector_Right/Left.stl | 8 | — | — | — | — | — | [OnlyScrews](https://onlyscrews.in/products/m3-x-30mm-hex-allen-button-head-hight-tensile10-9-black-oxide-screw-dia-3mm-length-30mm?variant=51255465247033) | -| M3 hex nut | For OB_T_Connector_Right/Left.stl | 8 | — | — | — | — | — | [OnlyScrews](https://onlyscrews.in/products/m3-nut-ss-304?variant=48892379988281) | +| M3×30 hex socket screw | For OB_T_Connector_Right/Left.stl | 8 | — | — | — | — | ₹5.80 | [OnlyScrews](https://onlyscrews.in/products/m3-x-30mm-hex-allen-button-head-hight-tensile10-9-black-oxide-screw-dia-3mm-length-30mm?variant=51255465247033) | +| M3 hex nut | For OB_T_Connector_Right/Left.stl | 8 | — | — | — | — | ₹1.00 | [OnlyScrews](https://onlyscrews.in/products/m3-nut-ss-304?variant=48892379988281) | | M3x5x4 heat-set insert | Total 36 pcs (Servo Mount×24, Side Panel×12) | 36 | — | Amazon | ¥5 | [taobao](https://item.taobao.com/item.htm?id=809241671998) | ₹8 | [DC3D](https://dc3d.in/shop/hardwares/m3-brass-heat-set-insert/) | -| M4×12 hex socket screw | Total 20 pcs (Bearing Cover×12, Z-axis Servo Mount×8) | 20 | — | Amazon | — | — | — | [OnlyScrews](https://onlyscrews.in/products/m4-x-12mm-hex-allen-socket-head-high-tensile12-9-black-anodized-screw?variant=49862768329017) | +| M4×12 hex socket screw | Total 20 pcs (Bearing Cover×12, Z-axis Servo Mount×8) | 20 | — | Amazon | — | — | ₹2.00 | [OnlyScrews](https://onlyscrews.in/products/m4-x-12mm-hex-allen-socket-head-high-tensile12-9-black-anodized-screw?variant=49862768329017) | | M4x6x5 heat-set insert | For OB_Chassis_Bearing_Cover.stl | 12 | — | Amazon | ¥4 | [taobao](https://item.taobao.com/item.htm?id=809241671998) | ₹10 | [Robu.in](https://robu.in/product/heat-set-insert-m4x6x5-brass/) | -| Adhesive | Epoxy (strongly recommended) / double-sided tape — cable retention & structural bonding | 1 | — | Amazon | ¥12 | [jd](https://item.jd.com/100141557259.html) | - | — | -| Servo extension cable | SCS 3-pin, 90 cm | 2 | — | [Alibaba](https://www.alibaba.com/product-detail/3P-5264-Interface-Bus-Actuator-Connection_1601635790774.html?spm=a2747.product_manager.0.0.5a3e71d2sTo6Ho) | ¥3 | [taobao](https://item.taobao.com/item.htm?id=616460581906) | - | - | -| Battery | 12 V Li-ion pack with 5521 barrel jack (male & female); one pack for the Raspberry Pi 5, the other for the mobile base and follower arms.| 2 | $43 | [Amazon](https://www.amazon.com/KBT-Rechargeable-Connector-Replacement-Security/dp/B0C242DYT1/ref=sr_1_2_sspa?th=1) | ¥130 | [taobao](https://item.taobao.com/item.htm?id=890828103056) | ₹1,377 | [Amazon](https://www.amazon.in/Rechargeable-Lithium-ion-11-1V-12-6V-Industrial-Applications/dp/B0F5BH2LSZ?th=1) | -| USB Type-C cable | Only for testing the mobile base | 1 | $10 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) | ¥20 | [tmall](https://detail.tmall.com/item.htm?id=754024805047) | - | - | -| Waveshare Bus Servo Controller | Only for testing the mobile base | 1 | $13 | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | ¥27 | [tmall](https://detail.tmall.com/item.htm?id=738817173460) | - | — | +| Adhesive | Epoxy (strongly recommended) / double-sided tape — cable retention & structural bonding | 1 | — | Amazon | ¥12 | [jd](https://item.jd.com/100141557259.html) | — | — | +| Servo extension cable | SCS 3-pin, 90 cm | 2 | — | [Alibaba](https://www.alibaba.com/product-detail/3P-5264-Interface-Bus-Actuator-Connection_1601635790774.html?spm=a2747.product_manager.0.0.5a3e71d2sTo6Ho) | ¥3 | [taobao](https://item.taobao.com/item.htm?id=616460581906) | ₹72 | [Flyrobo](https://www.flyrobo.in/100cm-jr-male-futaba-female-servo-extension-cable) | +| Battery | 12 V Li-ion pack with 5521 barrel jack (male & female); one pack for the Raspberry Pi 5, the other for the mobile base and follower arms.| 2 | $43 | [Amazon](https://www.amazon.com/KBT-Rechargeable-Connector-Replacement-Security/dp/B0C242DYT1/ref=sr_1_2_sspa?th=1) | ¥130 | [taobao](https://item.taobao.com/item.htm?id=890828103056) | ₹1,499 | [Amazon](https://amzn.in/d/0fqBQ5Gb) | +| USB Type-C cable | Only for testing the mobile base | 1 | $10 | [Amazon](https://www.amazon.com/Charging-etguuds-Charger-Braided-Compatible/dp/B0B8NWLLW2/?th=1) | ¥20 | [tmall](https://detail.tmall.com/item.htm?id=754024805047) | — | — | +| Waveshare Bus Servo Controller | Only for testing the mobile base | 1 | $13 | [Amazon](https://www.amazon.com/Waveshare-Integrates-Control-Circuit-Supports/dp/B0CTMM4LWK/) | ¥27 | [tmall](https://detail.tmall.com/item.htm?id=738817173460) | — | — | | 3D-printed parts | PLA/PETG/ABS (files in /hardware/mobile_base/stl) | ~4 kg filament | — | — | — | — | — | — | **3D Printing Parts List:**