Quantity   Component name
1 × Jetson TX2 Dev Kit Main Computer
1 × Zed Stereo vision
1 × Ufactory Lite 6 6 axis robot arm
3 × Nema 23 stepper motors Main drive motors
3 × Stepper controllers To control the steppers
3 × 6 inch Omni wheels For Omni directional drive, also a good amount of ground clearance.
6 × Custom cut drive unit plates aluminum
1 × Custom cut base plate aluminum
1 × 30mm Extruded Aluminum Main internal chassis support structure
1 × L mounts for motor drive units Mount the drive units
2 × 12v 20Ah LiFePO Battery For power to the robot
1 × Custom 3D printed head Complex shape needs to be 3D printed to bring down cost, reducing part count is important to reduce overall complexity and cost
2 × Custom vacuum actuators Self designed head tilt actuators (WIP)
1 × Medical grade vacuum pump Parker MD L.1M22EZ4.1M22N4 24VDC
1 × Custom 3D printed gripper assy Nylon