AlohaMini 2 Bill of Materials#

applicable model: Standard AlohaMini 2. Pro users please read the 2 Pro hardware first; the material quantity, printouts and assembly photos on this page correspond to the standard version.

This page is based on the standard AlohaMini 2, split by mobile chassis, dual follower arms, dual leader arms and consumables. The quantity, specifications and reference quotation are compiled from the project BOM; the servos and metal chassis of the 2 Pro need to be checked separately according to the corresponding configuration.

First clarify the scope of procurement#

part	location	Purpose
Mobile chassis, lifting, Raspberry Pi, camera	Robot Host	Drive the robot and return status and images
Two AM-ARM200 follower arms	robot shoulder	Perform grasping and dual-arm tasks
Two leader arms, control board, leader arm power supply	PC Client	Manual teaching by operator
PC workstation	console	teleoperation and recording; training also requires corresponding computing resources

The original quotation does not include the cost of PC, printer, common tools and about 5 kg of printing supplies. Overseas and domestic prices are independent estimates of the original BOM, not selling prices converted at real-time exchange rates; purchase links do not represent verified inventory.

budget summary#

module	RMB reference	dollar reference
Mobile chassis and robot end	¥2,475	About $344
double follower arm	¥3,320	About $461
Double leader arm	¥1,646	About $277
Fasteners and consumables	¥107	About $15
Total self-printing solutions	¥7,548	About $1,097

The module summary follows the original BOM; there are differences in whole package purchases, estimated prices, and procurement in different regions, and each column cannot be regarded as an accurate settlement document. The final budget is based on actual selection, shipping costs and shopping cart.

Mobile chassis and robot end#

Material	Specifications	Quantity	USD unit price	Overseas purchasing reference	RMB unit price	Domestic purchasing reference
Wheel servo STS-3215	ST-3215-C018, 12V, 1/345 reduction ratio	3	$15.97	Alibaba	¥110	Taobao
Elevator servo STS-3095	ST-3095-C002, 12V, 95 kg·cm	1	$50.37	Alibaba	¥345	Taobao
Omni wheel	127 mm (74A)	3	$40	omniawheel.com	¥289	Taobao
T frame aluminum profile	20×40×2 mm, L=400 mm * (or print `O_T_Connector_Cross_Bar.stl` ) *	1	~$1.50	—	¥10	—
Chassis steel pin	Φ12×80 mm * (or print `O_Chassis_Dowel_Pin_12_80.stl` ) *	3	~$0.50	Amazon	¥3.28	Taobao
Lifting shaft steel pin	Φ12×25 mm * (or print `O_T_Connector_Dowel_Pin_12_25.stl` ) *	1	~$0.50	Amazon	¥3.28	Taobao
Lifting guide bearings	4×13×5 mm	8	~$0.40	Amazon	¥3	Taobao
Chassis/robot arm/lift bearing	12×18×4 mm	8	~$0.80	Amazon	¥6	Tmall
forward facing camera	H65V1, 720p, 2.4 mm, 1 m cable length	1	~$17	Amazon	¥122	Taobao
rear facing camera	H65V1, 720p, 2.4 mm, 1 m cable length	1	~$17	Amazon	¥122	Taobao
boobs cam	H65V1, 720p, 2.4 mm, 2 m cable length	1	~$17	Amazon	¥122	Taobao
Raspberry Pi 5	2 GB RAM	1	~$93	Adafruit	¥669	Taobao
DC step-down module	12V→5V 5A (PD protocol)	1	~$9	Amazon	¥66	Taobao
heat sink	Raspberry Pi 5 passive heat sink	1	~$2.50	Amazon	¥18	Taobao
microSD memory card	32 GB	1	~$14	Amazon	¥99.9	—
HDMI to Micro HDMI cable	1 m, 4K60Hz	1	~$1	Amazon	¥7	pinduoduo
Bus servo control board	Waveshare Bus Servo Adapter A	1	$5.00	Waveshare	¥27	Tmall
12V battery	11200 mAh, DC 5521	2	~$16	Amazon	¥114	Taobao
DC one-to-two power cord	1-to-2, 30 cm	1	~$0.60	Amazon	¥4.5	Taobao
DC power extension cord	1 m	2	~$0.30	Amazon	¥2.3	Taobao
Servo extension cable	90 cm, Feetech 3-pin	2	~$0.30	Alibaba	¥2	Feite channel
3D prints	PLA/PETG/ABS, Bambu P2S	—	Approx. 4 kg consumables	—	—	`/AlohaMini2/hardware/mobile_base2/stl/`

Double follower arms (two in total)#

Each follower arm is based on AM-ARM200, with nominal 6+1 degree of freedom, 52 cm arm span, and 1 kg load. The following quantities are the total of the two follower arms.

Material	Specifications	Quantity	USD unit price	Overseas purchasing reference	RMB unit price	Domestic purchasing reference
Servo STS-3215	ST-3215-C018, 12V, 1/345 reduction ratio	8	$15.97	Alibaba	¥110	Taobao
Servo STS-3095	ST-3095-C002, 12V, 95 kg·cm	6	$50.37	Alibaba	¥345	Taobao
M3×10 hexagon socket screws	100 pieces/pack	2 pack	—	—	¥6	Taobao
heat-set inserts	M3×5×4	1 pack	—	Amazon	¥5	Taobao
Servo extension cable	SCS 3-pin, 26 cm	12	$0.43	AliExpress	¥3	Taobao
wrist camera	H65V1, 720p, 2.4 mm, 2 m cable length	2	~$17	Amazon	¥122	Taobao
Bus servo control board	Waveshare Bus Servo Adapter A	2	$5.00	Waveshare	¥27	Tmall
USB Type-C data cable	1 m (Robotic arm → Raspberry Pi 5)	4	—	—	¥4.8	pinduoduo
3D prints	PLA/PETG/ABS, Bambu P2S	—	—	—	—	AM-ARM200 print file

Double leader arms (two total)#

Material	Specifications	Quantity	USD unit price	Overseas purchasing reference	RMB unit price	Domestic purchasing reference
Servo STS-3215	ST-3215-C046, 7.4V, 1/147 reduction ratio	14	$15.97	Alibaba	¥110	Taobao
heat-set inserts	M3×5×4	1 pack	—	Amazon	¥5	Taobao
Bus servo control board	Waveshare	2	$12.47	Amazon	¥27	Tmall
5V power adapter	DC 5V AC adapter	1	$12.99	Amazon	—	—
USB Type-C data cable	1 m (robot → PC)	2	$7.19	Amazon	¥20	Tmall
DC one-to-two power cord	1-to-2, 70 cm	1	—	—	¥6.5	Taobao
3D prints	PLA/PETG/ABS, Bambu P2S	—	—	—	—	AM-ARM200 print file

Fasteners and consumables#

Material	Specifications	Quantity	USD unit price	Overseas purchasing reference	RMB unit price	Domestic purchasing reference
M3 heat-set inserts	M3×5×4 mm, 50 pieces/pack	1 pack	~$0.30	Amazon	¥2.2	—
M3×10 hexagon socket screws	100 pieces/pack, blue thread lock	3 pack	~$1.20	—	¥8.5	—
M3×18 hexagon socket screws	50 pieces/pack	1 pack	~$0.65	—	¥4.72	—
Epoxy glue	Loctite E-120HP 50 mL	1	~$10	Amazon	¥74.9	—

It’s easy to buy the wrong specifications#

distinguishes the leader arm and follower arm servos. The BOM of the leader arm is ST-3215-C046, 7.4V, 1/147 reduction ratio; the STS-3215 in the follower arm is C018, 12V, 1/345. The leader arm workflow adopts 5V power supply configuration and cannot directly apply the 12V power supply of the follower arm.
For elevator servo, choose STS-3095. The lifting structure and model configuration of the second generation are different from those of the first generation. It cannot be replaced with the first generation STS-3215 just because the interface is the same.
Check bearing size. 4×13×5 mm guide rail bearings have different uses than 12×18×4 mm bearings. Keep dimensional records when purchasing.
Checks whether the USB cable supports data. leader and follower arms control board requires data connection; cables with only charging function cannot complete serial communication.
Reserved length for lifting cables. The assembly guide requires that the three-pin line from ID 10 to ID 11 be at least 90 cm, and 140 cm is recommended; the length can be determined after confirming the wiring of the entire robot stroke.
Confirm whether the metal part is a printed replacement part. There are printing alternatives for steel pins and T-frame aluminum profiles, but the structural strength will be reduced after replacement.

Tools and arrival inspection#

Prepare hexagonal socket tools for fasteners, screwdrivers, tools to clean supports, epoxy glue and heat-set inserts installation tools. The original BOM does not list table clamps, soldering irons, and general tools, and the leader arm console also needs to be stably fixed.

After arrival, the bags are divided into modules: wheel set, lifting set, camera set, left and right arms, and power supply. Check the servo model, control board, wire length and fastener quantity one by one; the original assembly also uses M2×12 camera screws and M3×6 display screws, so you should check whether the accessory package is included.

The display and counterweight appear in the assembly guide, but the original BOM does not fully provide its model number, quality, and independent quotation. When you need to adopt this layout, first check the physical installation dimensions and the corresponding structural diagram to avoid mistaking the total price in the table as covering all accessories.

Design files and next steps#

After preparing the materials, proceed to 3D printing and Assembly.