Acrobot Hardware - RoboticExplorationLab/Acrobot GitHub Wiki
Acrobot Hardware
Bill of Materials
This is the bill of materials to build 1 Acrobot; the purchasing BOM involves larger quantities, especially for fasteners.
| Part | Qty | Notes | Supplier | Part# |
|---|---|---|---|---|
| T-Slotted Framing, 20 mm Square, 16in length | 2 | Purchase a 3ft length and cut to size | McMaster | 5537T101 |
| T-Slotted Framing Extended Straight Bracket for 20 mm High Rail, 3" Long | 6 | Should come with appropriate M5 fasteners | McMaster | 5537T948 |
| Dual Shaft Motor - D6374 150kv | 1 | ODrive | D6374 | |
| ODrive v3.6 | 1 | ODrive | 3.6 | |
| 8192 CPR Encoder with Cable (CUI AMT102-V) | 1 | ODrive | 8192 | |
| Ultra-Low-Friction Dry-Running Sleeve Bearing | 2 | Bearing / shaft assembly | McMaster | 6377K32 |
| Bearing Housing for 3/8" Wide and 0.375" OD Bearing | 2 | Bearing / shaft assembly | McMaster | 2829N1 |
| Rotary Shaft with Retaining Ring Grooves, 6" | 1 | Bearing / shaft assembly | McMaster | 2025K200 |
| Spiral External Retaining Rings for 1/4" OD, 1060-1090 Spring Steel | 3 | Bearing / shaft assembly | McMaster | 94540A300 |
| SOCKET HEAD CAP SCREW M5 35mm | 6 | For 80/20 / 3D printing interface | McMaster | 91290A195 |
| Steel Hex Nut, M5 x 0.8 mm Thread | 6 | For 80/20 / 3D printing interface | McMaster | 90592A095 |
| Motor mount, 3D printed | 1 | 3D printing services | 01 | |
| Encoder mount, 3D printed | 1 | 3D printing services | 02 | |
| Motor-arm connector, 3D printed | 1 | 3D printing services | 03 | |
| Shaft connector, 3D printed | 1 | 3D printing services | 04 | |
| Low-Profile C-Clamp, Standard, 0" to 1-1/2" Opening | 2 | Clamp Acrobot to a table | McMaster | 1705A11 |
| Aluminum Plate, 1/2" Thick x 6" Width 12" Length | 1 | Machining work required to add holes | McMaster | 8975K219 |
| Socket Head Cap Screw 10-32 Thread Size, 3/4" Long | 4 | For mounting bearings to plate | McMaster | 91251A345 |
| Steel Hex Nut, 10-32 | 4 | For mounting bearings to plate | McMaster | 90480A195 |
| Socket Head Cap Screw M3 x 0.5 mm Thread, 10 mm Long | 6 | For mounting encoder | McMaster | 91290A115 |
| Socket Head Cap Screw, M4 x 0.7 mm Thread, 10 mm Long | 4 | For mounting motor | McMaster | 91290A144 |
| Brass Heat-Set Inserts for Plastic M3 x 0.50 mm Thread Size, 4.300 mm length | 4 | For mounting encoder | McMaster | 94459a130 |
| Wire | 6 ft | Run 3 wires from motor to ODrive controller |
3D Printing
There are four 3D printed components. They were printed in nylon; another high-strength material could be used.
1. Motor mount for ODrive motor.
Install the four threaded inserts using a soldering iron.
2. Encoder bracket
Stacks on top of motor mount to hold ODrive encoder.
3. Arm mount
Connects second arm of Acrobot to motor.
4. Shaft connector
Connects first arm of Acrobot to bearing / shaft assembly.
Machining
-
The base plate requires 4 countersunk holes to install the bearing assembly. Technical drawing with hole pattern
-
If you purchased a standard length of 80/20 (such as three feet), you need to cut two 16-inch lengths.