A.1 - SHOULDER, LOWER ARM, AND FOREARM BILL OF MATERIALS

Table A.1 Shoulder, Lower Arm, and Forearm Raw Materials Costs

 

Description

Part Number

Vendor

Unit Cost

Qty.

Prototype Cost

3" x 3" x 7', 0.125"-Wall Thickness 6063 Aluminum Tubing

88875K46

McMaster-Carr

$53.08

1

$53.08

1/4"-Diameter, 399-mm Black Neoprene O-Ring Round Belt

8060K35

McMaster-Carr

$4.98

1

$4.98

12" x 6" x 1/4" Green Oil-Impregnated Cast Nylon Sheet

84845K61*

McMaster-Carr

$11.01

1

$11.01

12" x 6" x 3/4" Green Oil-Impregnated Cast Nylon Sheet

84845K22*

McMaster-Carr

$23.24

1

$23.24

12" x 12" x 0.125" 6061-T6 Aluminum Sheet

89015K28*

McMaster-Carr

$16.17

1

$16.17

8" x 4" x 0.25" 6061-T6511 Aluminum Plate

89155K22*

McMaster-Carr

$6.49

1

$6.49

12" x 6" x 0.5" 6061-T6511 Aluminum Plate

89155K44*

McMaster-Carr

$45.37

1

$45.37

8" x 4" x 1" 6061-T6511 Aluminum Plate

89155K72*

McMaster-Carr

$19.38

1

$19.38

3/4"-OD x 6' 6061-T6511 Aluminum Rod

8974K35

McMaster-Carr

$16.02

1

$16.02

2" x 1.5" x 1' 6061-T6511 Aluminum Rectangular Bar

8975K253

McMaster-Carr

$22.03

1

$22.03

Subtotal

 

 

 

 

$217.77

* Part number is for ordering twice the amount of material actually used in constructing the robotic arm.

 

 

 

 

 

 

Table A.2 Shoulder, Lower Arm, and Forearm Component Costs

 
Description

Part Number

Vendor

Unit Cost

Qty.

Prototype Cost

0.625" OD, 0.25" Bore Oil-Lubricated Ball Bearing

S9912Y-E2562FS2

SDP/SI

$10.33

2

$20.66

Wrist Motor

GM8724S027

Pittman

$150.22

2

$300.44

Wrist Differential

SDP/SI: S9570A-TS3

SDP/SI

$304.93

1

$304.93

2" OD, 0.75" Bore Gear

GSS486Y-G

Bearing Distributors, Inc. (Boston Gear Distributor)

$23.30

2

$46.60

Wrist Pinion

GSS486Y-P

Bearing Distributors, Inc. (Boston Gear Distributor)

$19.27

2

$38.54

1.125" OD, 0.5" Bore Flanged Ball Bearing

E7-S3F

PIC Design

$25.46

4

$101.84

3.6 V, 180 RPM Cordless Screwdriver

9074

Black & Decker

 

1

 

20-Pitch, 20-tooth, 1" Pitch Diameter, 0.5" Bore, Steel

Catalog: YA20-1/2
Item: 46133
(
Boston Gear Catalog)

Bearing Distributors, Inc. (Boston Gear Distributor)

$20.00

1

$20.00

20-Pitch, 60-tooth, 3" Pitch Diameter, 0.5" Bore, Steel

Catalog: YA60A
Item: 10550
(
Boston Gear Catalog)

Bearing Distributors, Inc. (Boston Gear Distributor)

$25.00

1

$25.00

Screws, Nuts, Bolts, Washers

 

 

$30.00

1

$30.00

Subtotal

 

 

 

 

$888.01

 

Table A.3 Shoulder, Lower Arm, and Forearm Machining Costs

 
 

 


Cost / Hr.

Hrs.

Prototype Cost

$25

100

$2,500.00

 


A.2 - GRIPPER BILL OF MATERIALS

Table A.4 Gripper Bill of Materials

 

Part Description

Part Number

Vendor

Material Cost

Machining Cost*

Part Cost / Unit

Quantity

Prototype Cost

Lead Screw

17-070-.25-20

PIC Inc.

$2.00

$12.50

$14.50

1

$14.50

Moving Plate

 

 

$5.30

$50.00

$55.30

1

$55.30

Gripper Motor Plate

 

 

$5.30

$25.00

$30.30

1

$30.30

Differential Plate

 

 

$5.30

$25.00

$30.30

1

$30.30

Palm

 

 

$5.30

$50.00

$55.30

1

$55.30

Side Plates for Gripper Motor/Fingers Housing

 

 

$2.00

$18.75

$20.75

2

$41.50

Spacer betwn. Diff. Gear and Wrist Motor

 

 

$0.35

$12.50

$12.85

1

$12.85

1.75" Finger Link

 

 

$0.32

$6.25

$6.57

3

$19.71

1.00" Finger Link

 

 

$0.16

$6.25

$6.41

3

$19.23

Iso-triangular Finger Link

 

 

$1.60

$18.75

$20.35

3

$61.05

Straight Middle Finger Link

 

 

$1.60

$18.75

$20.35

3

$61.05

Finger Tips

 

 

$1.60

$18.75

$20.35

3

$61.05

Torsional Springs for Gripper Fingers

 

 

$0.05

 

$0.05

3

$0.15

Motor Bit

 

 

$1.60

$18.75

$20.35

1

$20.35

Screwdriver Motor/Gearbox

#9072

Black & Decker

 

 

$14.99

1

$14.99

Thrust Bearing for Gripper

A727M0512

Stock Drive Products

 

 

$5.00

1

$5.00

Pins, 1.5 ft used

S121M2150

Stock Drive Products

 

 

$2.75

1.5

$4.13

Retaining Clips

A7X 1-0424A

Stock Drive Products

 

 

$0.15

50

$7.50

Screws, Nuts, Bolts, Washers

 

 

 

 

$10.00

1

$10.00

Subtotal

 

 

$45.14

 

 

 

$524.26

* Machining was estimated at $25/hr

 


A.3 - CONTROLS BILL OF MATERIALS

Table A.5 Controls Bill of Materials

 

Part Description

Part Number

Vendor

Part Cost / Unit

Quantity

Prototype Cost

12V Motor Control Board

MC6-12

Diverse Electronics

$55.00

5

$275.00

24V Motor Control Board

MC6-24

Diverse Electronics

$55.00

1

$55.00

8 Position Joystick

 

Radio Shack

$18.00

1

$18.00

Switches

 

Radio Shack

$1.49

3

$4.47

3.6V Black & Decker Screwdriver Motor

Model # VP750

Black and Decker

$19.97

1

$19.97

2.4V Black & Decker Screwdriver Motor

Model # 9072

Black and Decker

$14.99

1

$14.99

24V Motor

 

Diverse Electronics

$10.00

1

$10.00

12V Car Window Motor

 

Mendelson Liquidation

$12.50

1

$12.50

12V Wrist Motors

GM8724S027

Pittman Co.

$150.22

2

$300.44

OOPic

OOPic

Reynolds Electronics

$39.00

2

$78.00

Wire

 

Radio Shack

$7.99

1

$7.99

10K Resistors

 

Radio Shack

$0.10

7

$0.69

U-shaped Pin Connectors

 

Radio Shack

$0.09

 

$0.00

Quick Disconnects

 

Radio Shack

$0.15

 

$0.00

Breakout Boards

 

Radio Shack

$3.49

2

$6.98

Prototyping Boards

 

Radio Shack

$21.99

1

$21.99

Terminal Posts

 

Digikey

 

 

$0.00

14 Pin Ribbon

 

Radio Shack

$1.33

1

$1.33

5 Pin Connectors

WM2003-ND

Digikey

$0.35

1

$0.35

2 Pin Connectors

WM2000-ND

Digikey

$0.25

1

$0.25

Crimp Terminals

WM2200-ND

Digikey

$0.18

1

$0.18

Subtotal

 

 

$412.09

 

$828.13

 


A.4 - SUMMARIZED COST OF ARM

Table A.6 Summarized Cost of Arm

 

Subassembly

Prototype Cost

Base, Lower Arm, and Forearm

$3605.78 

Gripper

$524.26

Controls

$828.13

Subtotal

$4958.17

 

 

 

 


A.5 - SUPPLIER INFORMATION

Table A.7 Supplier Information

 
 


Company Name

Bearing Distributors, Inc.

Pittman

Stock Drive Products / Sterling Instrument

PIC Design

McMaster-Carr

Contact Person / Sales Rep.

Branch # 52 (Dayton): Mitchell Niese, Branch Manager / Joe Batdorf, Office Manager

 

OH Sales Representative: ROCKFORD CONTROLS OHIO

OH Sales Representative:

JOHN O. OLSEN CO.

 

Address

1436 Cincinnati St. (45408)

P.O. Box 761

343 Godshall Drive

815 W. Liberty

2017A Lublin Drive

P.O. 94930

 

Dayton, OH 45401-0761

Harleysville, PA 19438-0003

Medina, OH 44258

Reynoldsburg, OH 43068

Cleveland, OH 44101-4930

Phone Number

Phone: (513) 224-1537

Phone: (215) 256-6601 or

1-877-748-8626

Phone: (800) 572-0479

Phone: (614) 861-2776 or (800) 270-1107

Phone: (330)995-5500

Fax Number

FAX: (513) 224-5868

Fax: 215-256-1338

Fax: (330) 723-2012

FAX: (614) 861-2776

Fax: (330) 995-9600

E-Mail

dayton@bdi-usa.com

info@pittmannet.com

rockford@ohio.net

 

cle.sales@mcmaster.com

Web Site

www.bdi-usa.com

www.pittmannet.com

www.sdp-si.com

www.pic-design.com

www.mcmaster.com

Company Name

Diverse Electronic Services

Savage Innovations

 

Contact Person / Sales Rep.

Carl Kollar

 

 

Address

1202 Gemini Street

 

 

 

Nanticoke, PA 18634-3306

 

 

Phone Number

Phone: (570) 735-5053

 

 

Fax Number

 

Fax: (603) 691-7688

 

E-Mail

carlk3jml@bigfoot.com

SavageInnovations@OOPic.com

 

Web Site

members.tripod.com/~divelec/

www.OOPic.com

 


 

Table of Contents

Section 11: Future Considerations

Appendix B