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Expand BOM to include indian sources and costs #13

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docs(bom): expand BOM to include unit costs and purchase links for In…
Ankk98 Jan 23, 2026
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Fix table formatting
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90 changes: 45 additions & 45 deletions docs/BOM.md
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Expand Up @@ -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

| Item | Model / Notes | Qty | Unit Cost (US) | Buy (US) | Unit Cost (CN) | Buy (CN) |
|------|---------------|-----|----------------|----------|----------------|----------|
| 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) |
| 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) |
| 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) |
| 3D-printed parts | PLA/PETG/ABS (files in /hardware/mobile_base/stl) | ~4 kg filament | — | — | — | — |
## 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) | ₹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) | ₹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 | — | — | — | — | ₹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 | — | — | ₹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) | ₹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:**
- OB_Chassis_Bearing_Cover x3
Expand Down Expand Up @@ -79,23 +79,23 @@ 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) |
|------|---------------|-----|----------------|----------|----------------|----------|
| 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) |
| 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 | — |
| 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) |
|------|---------------|-----|----------------|----------|----------------|----------|
| 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) |
| 3D-printed parts | PLA/PETG/ABS (files in /hardware/arms/stl) | 1 set | — | — | — | — |
| 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) | ₹1,949.99 | [ThinkRobotics](https://thinkrobotics.com/products/30kg-serial-bus-servo-high-precision-and-torque-with-encoder?variant=44399778169149&country=IN&currency=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&currency=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/) |
| 3D-printed parts | PLA/PETG/ABS (files in /hardware/arms/stl) | 1 set | — | — | — | — | — | — |


**3D Printing Parts List:**
Expand All @@ -109,14 +109,14 @@ 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) |
|------|---------------|-----|----------------|----------|----------------|----------|
| 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) |
| 3D-printed parts | PLA/PETG/ABS (files in /hardware/arms/stl) | 1 set | — | — | — | — |
| 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 | — |
| 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 | — | — | — | — | — | — |

**3D Printing Parts List:**
- All "D_*.stl" files: x2
Expand Down