FruitBot Bill of Materials, March 2021:
Also see the photo gallery, story and interface.
Total lbs. |
Total Cost |
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Item |
Description |
Mfgr |
Model |
33.92 |
$987 |
Picture |
Main Battery |
EGO Power 5Ah Battery. 3rd party units sell for $160 on Amazon. |
BA2800T |
5 |
$250 |
|
|
Motor Driver |
Sabertooth 2x12 (non-RC), one board controls two DC brushed motors with 12A each, 25A max per motor. 0.35 oz |
0.02 |
$80 |
|
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Motors |
Power Wheels 7R Gearbox with RS-550 12V DC Electric Brushed Motor avg 5A, max 35A = 420W, $25 x2 1.44 lbs each |
RS-550 |
2.88 |
$50 |
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|
Main computer |
Raspberry Pi 4 Model B - ARMv8 with 2GB RAM, 1.5oz |
4292 |
0.1 |
$35 |
|
|
Bracket to support level 2 |
Set of two 5mm thick black steel double L floating shelf brackets. 7" x 11" x 1.5" and able to support 75lbs. 4.5 lbs. |
B08GJJSSKD |
5 |
$30 |
|
|
Connection for Main Battery |
EGO 56V Power battery charger. We are only using the shell of the charger as a way to connect the EGO battery to the robot, so I got a cheap refurb on eBay for $25. $65 new on Amazon. A second charger may be needed to actually charge the EGO battery. 2.4 lbs, but less without the innards. |
CH2100 |
1.5 |
$27 |
|
|
RPi ensure 5V Power |
UPS Battery Support for Raspberry Pi 5V 3A output, 4000mAh. 3oz. |
B01LAEX7J0 |
0.2 |
$25 |
|
|
DC Voltage Regulator |
Pro Chaser 48V-72V to 12V 20A voltage regulator. 14 oz |
B07GNTC1D7 |
0.9 |
$23 |
|
|
Wheels |
Solid Rubber 6 Inch Wheels. Mounting hole is 8mm, set of 2. This determines axle size. 1.8 lbs for both wheels |
B0816CZ2HT |
1.8 |
$22 |
|
|
Temporary battery for testing |
MightyMax, 12V rechargable SLA (AGM) battery, 9Ah. The Sabertooth motor driver board requires battery power input, not AC wall power. |
ML9-12 |
5.5 |
$22 |
|
|
Charger for temporary battery |
MotoPower automatic 12V battery charger, 800mA |
MP00205A |
0 |
$20 |
|
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Base for body |
Oak laminated modular shelf, 12" x 36", 7lbs. |
Ace Hardware |
7 |
$20 |
|
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Sound proofing for motors |
White Neoprene Closed Cell Foam Rubber Roll Adhesive 12"x 59" x 1/4" |
0 |
$19 |
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Control servos for video camera |
PWM Servo HAT for Raspberry Pi. 14g |
2327 |
0.1 |
$18 |
|
|
Headlights & taillights |
RGBW NeoPixel strip, 30 LEDs per meter, 1 meter with black backing. Only used 16 pixels, 8 front, 8 back. |
2824 |
0 |
$18 |
|
|
Body reinforcement |
Two metal 7" tie plates with nuts & bolts, 3.2 oz for one plate |
Ace Hardware |
0.5 |
$18 |
|
|
5V DC Voltage Regulator |
DC-DC 50W power converter, 10V-60V input, 5V 10A max output, for all the electronics. 7.7 oz |
SPA05980 |
0.5 |
$16 |
|
|
Mic & sound card |
Adafruit Voice Bonnet for Raspberry Pi -Two Speakers + Two Mics, 0.2 oz |
4757 |
0.02 |
$15 |
|
|
Micro-controller for motors, IR sensors and NeoPixels |
Adafruit ItsyBitsy M4 Express featuring ATSAMD51, 2.4g I like the ItsyBitsy line because it has one 5V pin for controlling NeoPixels. |
3800 |
0 |
$15 |
|
|
Compass |
NXP 9-DoF breakout board FXOS8700 + FXAS21002 (2.1g or 0.1oz or 0.005lbs) |
3463 |
0 |
$15 |
|
|
Second Compass |
InvenSense ICM-20948 9-DoF IMU Sometimes the NXP compass gives false readings, so a second compass was added for comparison. |
4554 |
0 |
$15 |
|
|
Measure Power |
Volt & Amp Display, DC 4.5-100V, 0-50A Current Detector |
B07QVXXGVR |
0.25 |
$15 |
|
|
Connect wires |
Dupont 620 Pcs Crimp Housing Connector Kit |
B07DF9BJKH |
0 |
$14 |
|
|
distance sensors REPLACE FAILED |
HC-SR04 ultrasonic distance sensors 5V, for 2-450cm, set of 10 |
B07JJHCVRG |
0.3 |
$14 |
|
|
Wire |
Wire, 22 awg solid core, 7 colors 26 ft each, to connect all the 3V & 5V electronics. |
B083DN5R61 |
0.2 |
$13 |
|
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Rubber wheels |
2" non-marking caster wheel, $6.30 x2, 0.33 lbs each |
1 |
$13 |
|
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Ultrasonic sensor controller |
Adafruit Metro Mini 328 (Arduino UNO), 5V 16MHz, 3g |
2590 |
0.01 |
$13 |
|
|
Axle |
Hardened steel 8mm x 300mm axle, set of 2. |
IT-RD048 |
0.3 |
$12 |
|
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Molex 12 Circuit connector |
This connector simplifies the connection and disconnection of the EGO battery charger box that houses the ItsyBitsy, Sabertooth motor driver and more. 13A, 600V max |
39121400 |
0 |
$12 |
|
|
Micro Servos |
Two 5V micro servos for controlling video camera position. 13.6g each |
MG90S |
0.1 |
$11 |
|
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Wheel encoders |
TCRT5000 Reflective IR sensors for wheel odometers, for 1-25mm, set of 12 |
B08LBFPZXX |
0.1 |
$10 |
|
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Speakers |
Speaker 8ohm 2W, 2 oz |
B07VRYWMDR |
0.2 |
$10 |
|
|
Faux White Leather Sheet 7.9"x26.5" |
Used this to cover the touch-sensitive bumper around the robot so it would not leave a mark if it touched the walls. |
0.1 |
$10 |
|
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Heavy gauge wire |
BNTECHGO 12 AWG Silicone Wire 10 ft red and 10 ft Black, for main 56V power connections |
SW12G68008F10C2 |
0 |
$10 |
|
|
Stranded Wire |
Stranded LED wire, 22 awg to compliment the solid core wire. |
B08HK6CLY9 |
0.1 |
$10 |
|
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Cliff sensors |
IR Infrared Obstacle Avoidance Sensor. Cliff sensors so we don't fall down the stairs, for 2-30cm. |
0 |
$9 |
|
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Connect micro-controllers |
Right Angle 2FT Reversible Micro USB Cable |
B045B |
0.1 |
$9 |
|
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Connectors |
TICONN 100 Pcs Nylon Spade Quick Connector Kit |
0703123811088 |
0 |
$9 |
|
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Axle coupler |
Aluminum couplers to hold wheels on 8mm axle, set of 5 |
B073FDXHMG |
0.04 |
$8 |
|
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Video camera lights |
Chanzon 10 pcs High Power 3W Natural White LED Chip |
10DGL-DZ-3W-NW |
0 |
$7 |
|
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Video camera lights |
Chanzon 25pcs 5W LED Heat Sink |
B06XKTRSP7 |
0 |
$6 |
|
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Sound proofing for motors |
Air conditioner air filters (2) should reduce sound but still let air ventilate the motors and gearbox. It is very light weight, so not adding to weight of bot. |
Ace |
0 |
$6 |
|
|
Replace bent bearings in 6" wheels |
608ZZ 8 x 22 x 7 mm Deep Groove Ball Bearing, Double Metal Shielded |
608ZZ |
0 |
$5 |
|
|
Medium heavy wire |
50' of 18 awg speaker wire for 12V power distribution, only used 10% of $40. Crimp tool for spade connectors, $10 |
Ace Hardware |
0.1 |
$4 |
|
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Video camera |
OV5647 camera, 5MP photos, 1080p video, 30 fps max, by Dorhea. $14 for 4 cameras ($3.50 each). 0.634 oz for all 4(?) = 4.5g each |
3099 |
0 |
$4 |
|
|
Item |
Description |
Mfgr |
Model |
Weight lbs. |
Cost |
Picture |
Compass NOT USED |
BNO055 9-DOF Absolute Orientation IMU Fusion Breakout. This is a great part, but I do not understand how to use it correctly in my project. |
4646 |
$25 |
|
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Wheel Driver NOT USED |
Power Wheels 4R, 10 Rib Wheel Driver, set of 2. The spokes of the wheels I bought just so happened to fit the gearbox directly (with a little trimming). |
74460-2249 |
0.01 |
$18 |
|
|
Axle mount NOT USED |
Pillow block mount for 8mm axle, set of 4. 0.13 lbs for two mounts |
43237-2 |
0.13 |
$12 |
|
|
Motor Driver FAILED |
BTS7960 43A High Power Motor Driver, set of 2 0.1lbs per driver These seem to burn out very easily. |
BTS7960 |
0 |
$15 |
|
|
12V DC Voltage Regulator REPLACED |
Pro Chaser 48V-72V to 12V 10A Regulator, 15A max, one for each motor. $15 each x2. 0.56 lbs for each (1.12 lbs) |
B07DHW56XP |
0 |
$30 |
|
|
5V DC Voltage Regulator FAILED |
DC-DC 20W power converter, 8V-72V input, 5V 4A max output, for all the electronics. 0.01 lbs This may have destroyed my RPi3B |
B08DKN1GV8 |
0 |
$13 |
|
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Make space for axle and fit bearings in gearbox |
22mm Auger Drill Bit, 230mm Length |
B07PR1PZ7K |
0 |
$12 |
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