Quantity   Component name
1 × Raspberry Pi 5 (8GB) High-level controller (ROS 2, SLAM, navigation, UI)
1 × Teensy 4.0 Real-time controller (motors, encoders, IMU)
2 × BLDC motor ZDBLD60-24GN-30S 24V differential drive
2 × Gearbox 4GN 25K Torque reduction
2 × BLDC motor driver ZBLD-C20-120L2R PWM speed / direction control
2 × AS5040 magnetic encoder Wheel odometry
1 × MPU6050 IMU 6-axis accel + gyro
1 × RPLIDAR A1 2D laser scanner (SLAM, obstacle detection)
1 × Raspberry Pi Camera / Arducam IMX219 Vision, docking
1 × 24V Li-ion / LiFePO4 battery pack Main power
1 × LM2596 buck converter (24V→5V) Pi power
1 × DROK 24V→5V/12V step-down Sensors / aux
1 × Inline fuse + emergency-stop switch Overcurrent + safety cutoff
2 × Blickle GEVN 200/30H7 Drive wheels
4 × LPA-VSTH Swivel castors
1 × Sheet-metal chassis Custom, open design
1 × Software: ROS 2 (Nav2), Blockly no-code UI, LLM voice layer