# AIRA — Bill of Materials

> Exported from Autodesk Fusion 360 assemblies, March 2026.

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# Follower Arm

## 3D Printed Parts — PLA-CF (Black)

| # | Part | Qty | Assembly |
|---|------|-----|----------|
| 1 | Base | 1 | Base |
| 2 | link1 | 1 | Link 1 |
| 3 | link2_part1 | 1 | Link 2 |
| 4 | link2_part2 | 1 | Link 2 |
| 5 | link2_part3 | 1 | Link 2 |
| 6 | link3_part1 | 1 | Link 3 |
| 7 | Link3_part2 v1 | 1 | Link 3 |
| 8 | Link3_part3 v2 | 1 | Link 3 |
| 9 | link4 | 2 | Link 4 |
| 10 | Adapter | 1 | Gripper |
| 11 | Rack (Zahnstange v0.2) | 2 | Gripper |
| 12 | Pinion | 1 | Gripper |
| 13 | Gripper Base (Mount v0.2) | 1 | Gripper |
| 14 | D405 Holder | 1 | Gripper |
| 15 | Finger Adapter (FingerAdapter v0.2) | 2 | Gripper / Finger |
| 16 | Finger Adapter (inside Soft Finger) | 2 | Gripper / Finger |

**Total PLA-CF printed parts: 19**

## 3D Printed Parts — TPU (Orange)

| # | Part | Qty | Assembly |
|---|------|-----|----------|
| 1 | Soft Finger (soft_finger_v1) | 2 | Gripper / Finger |

## Motors — Damiao CAN Bus

| Motor | Model | Gear Ratio | Rated / Peak Torque | Qty | Unit Price | Purpose |
|-------|-------|-----------|---------------------|-----|-----------|---------|
| Damiao J8009P | J8009P-2EC | 9:1 | 20 Nm / 40 Nm | 2 | ~$395 | Base + Link 1 |
| Damiao J4340P | DM-4340P-2EC | 40:1 | 9 Nm / 27 Nm | 2 | ~$175 | Link 2 + Link 3 |
| Damiao J4310 | DM-J4310-2EC-V1.1 | 10:1 | 3 Nm / 7 Nm | 3 | ~$125 | Link 4 + Link 5 + Gripper |

**Total follower motors: 7 · ~$1,515**

## Screws

All socket head cap screws. Black-oxide alloy steel unless noted.

| Size | Qty | McMaster Part # | Notes |
|------|-----|-----------------|-------|
| M3 x 6 mm | 2 | 90751A110 | 18-8 Stainless Steel |
| M3 x 8 mm | 24 | 91290A113 | |
| M3 x 10 mm | 8 | 91290A115 | |
| M3 x 12 mm | 10 | 91290A117 | |
| M3 x 15 mm | 22 | 91290A572 | |
| M3 x 18 mm | 18 | 91290A121 | |
| M3 x 22 mm | 6 | 91290A124 | |
| M3 x 35 mm | 35 | — | Socket Head |
| M4 x 10 mm | 10 | 91290A144 | |
| M5 x 15 mm | 6 | 91290A231 | |
| M5 x 25 mm | 6 | 91290A252 | |

**Total follower screws: 147**

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# Leader Arm

## 3D Printed Parts — PLA-CF (Black)

| # | Part | Qty | Assembly |
|---|------|-----|----------|
| 1 | Base Leader | 1 | Base |
| 2 | shaft_leader | 1 | Base |
| 3 | bearing plate | 2 | Base |
| 4 | link1_Leader | 1 | Link 1 |
| 5 | Link2_Leader | 2 | Link 2 |
| 6 | Link2 end Leader | 1 | Link 2 |
| 7 | link3Part1 | 1 | Link 3 |
| 8 | link3Part2 | 1 | Link 3 |
| 9 | link4 | 1 | Link 4 |
| 10 | Link5 Leader | 1 | Link 5 |
| 11 | Gripper Insert Leader | 1 | Gripper |
| 12 | Link7 (Gripper Leader) | 1 | Gripper |
| 13 | Finger_holder (Gripper Leader) | 1 | Gripper |

**Total PLA-CF printed parts: 15**

## Motors — Dynamixel Servos

| Motor | Qty | Unit Price | Purpose |
|-------|-----|-----------|---------|
| Dynamixel XL330-M077 | 7 | ~$24 | All joints (leader arm) |

**Total leader motors: 7 · ~$168**

## Screws

All socket head cap screws unless noted.

| Size | Qty | McMaster Part # | Notes |
|------|-----|-----------------|-------|
| M2 x 6 mm | 20 | 91292A831 | 18-8 Stainless Steel |
| M2 x 8 mm | 4 | 91292A832 | 18-8 Stainless Steel |
| M2 x 12 mm | 4 | 92290A019 | 316 Stainless Steel |
| M2 x 14 mm | 2 | 91290A045 | Black-Oxide Alloy Steel |
| M3 x 6 mm | 2 | 91290A111 | Black-Oxide Alloy Steel |
| M3 x 15 mm | 16 | 91290A572 | Black-Oxide Alloy Steel |
| M3 x 20 mm | 8 | 91290A123 | Black-Oxide Alloy Steel |
| M3 x 25 mm | 4 | 90128A205 | Zinc-Plated Alloy Steel |

**Total leader screws: 60**

## External Components

| Part | Qty | Approx. Price | Notes |
|------|-----|--------------|-------|
| Bearing 6815 (95 x 75 x 10 mm) | 1 | ~$10 | Thin-section ball bearing |
| Bus Servo Adapter PCB (assembled) | 1 | ~$15 | USB-C to Dynamixel TTL bus board |

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# Shared Electronics

| Part | Qty | Source | Approx. Price |
|------|-----|--------|--------------|
| USB-CAN adapter (Canable / MKS CANable) | 1 | Amazon / AliExpress | ~$30 |
| 24V power supply (10A+) | 1 | Amazon | ~$30 |
| 5V power supply (leader arm) | 1 | Amazon | ~$10 |
| CAN bus termination resistor (120 Ohm) | 2 | Any electronics store | ~$1 |

## Camera (Optional)

| Part | Qty | Source | Approx. Price |
|------|-----|--------|--------------|
| Intel RealSense D405 | 1 | Intel | ~$259 |

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## Cost Summary

### Parts Cost (before shipping)

| Configuration | Approx. Cost (USD) |
|--------------|-------------------|
| Follower arm only | ~$1,650 |
| Full teleop kit (follower + leader) | ~$1,850 |
| Full teleop kit + camera | ~$2,100 |

> Parts prices based on international retail (AIFITLAB, Robotis, Amazon) as of early 2026. 3D printing filament (~$45 for 1.5 kg PLA-CF + TPU) and screws (~$25) are included.

### Estimated Total (including shipping & import duties)

| Configuration | EUR | USD |
|--------------|-----|-----|
| Full teleop kit | €2,000 – €2,500 | $2,200 – $2,750 |

> **Why the range?** Damiao motors ship from China. Shipping costs and import duties vary by country, supplier, and order timing. The range above reflects real-world costs for EU/US buyers (as of early 2026). Ordering via Taobao/AliExpress can reduce parts cost by 20–30%, but shipping and customs may offset some savings.