Bill of Materials — AlohaMini2#
← 教程资料库 · AlohaMini 硬件与操作
适用型号请结合本页硬件配置确认。
AlohaMini2 follows the same Client/Host architecture as LeKiwi:
Host — mobile base + follower arms + compute (Raspberry Pi 5)
Client — PC workstation + leader arms
Common tools (table clamp, soldering iron, screwdriver set) are not listed.
Mobile Base#
Item |
Spec |
Qty |
Unit ($) |
Buy (US) |
Unit (¥) |
Buy (CN) |
|---|---|---|---|---|---|---|
Servo — STS-3215 (wheel) |
ST-3215-C018, 12V, 1/345 gear |
3 |
$15.97 |
¥110 |
||
Servo — STS-3095 (lift) |
ST-3095-C002, 12V, 95 kg·cm |
1 |
$50.37 |
¥345 |
||
Omni wheel |
127 mm (74A) |
3 |
$40 |
¥289 |
||
Aluminum extrusion (T-frame) |
20×40×2 mm, L=400 mm (or print |
1 |
~$1.50 |
— |
¥10 |
— |
Steel pin (chassis) |
Φ12×80 mm (or print |
3 |
~$0.50 |
Amazon |
¥3.28 |
|
Steel pin (lift axis) |
Φ12×25 mm (or print |
1 |
~$0.50 |
Amazon |
¥3.28 |
|
Bearing — lift track |
4×13×5 mm |
8 |
~$0.40 |
Amazon |
¥3 |
|
Bearing — chassis/arm/lift |
12×18×4 mm |
8 |
~$0.80 |
¥6 |
||
Camera — front |
H65V1, 720p, 2.4 mm, 1 m cable |
1 |
~$17 |
Amazon |
¥122 |
|
Camera — back |
H65V1, 720p, 2.4 mm, 1 m cable |
1 |
~$17 |
Amazon |
¥122 |
|
Camera — chest |
H65V1, 720p, 2.4 mm, 2 m cable |
1 |
~$17 |
Amazon |
¥122 |
|
Raspberry Pi 5 |
2 GB RAM |
1 |
~$93 |
¥669 |
||
DC buck converter |
12V→5V 5A (PD protocol) |
1 |
~$9 |
¥66 |
||
Heatsink |
Raspberry Pi 5 (passive) |
1 |
~$2.50 |
Amazon |
¥18 |
|
microSD card |
32 GB |
1 |
~$14 |
Amazon |
¥99.9 |
— |
HDMI→Micro HDMI cable |
1 m, 4K60Hz |
1 |
~$1 |
Amazon |
¥7 |
|
Bus servo controller |
Waveshare Bus Servo Adapter A |
1 |
$5.00 |
¥27 |
||
Battery 12V |
11200 mAh, DC 5521 |
2 |
~$16 |
¥114 |
||
DC splitter cable |
1-to-2, 30 cm |
1 |
~$0.60 |
Amazon |
¥4.5 |
|
DC extension cable |
1 m |
2 |
~$0.30 |
Amazon |
¥2.3 |
|
Servo extension cable |
90 cm, Feetech 3-pin |
2 |
~$0.30 |
¥2 |
Feetech channel |
|
3D-printed parts |
PLA/PETG/ABS, Bambu P2S |
— |
~4 kg filament |
— |
— |
|
Follower Arms (×2)#
Each arm: 6+1 DoF, 52 cm reach, 1 kg payload — based on AM-ARM200.
Item |
Spec |
Qty |
Unit ($) |
Buy (US) |
Unit (¥) |
Buy (CN) |
|---|---|---|---|---|---|---|
Servo — STS-3215 |
ST-3215-C018, 12V, 1/345 gear |
8 |
$15.97 |
¥110 |
||
Servo — STS-3095 |
ST-3095-C002, 12V, 95 kg·cm |
6 |
$50.37 |
¥345 |
||
Hex socket screw M3×10 |
100-pack |
2 packs |
— |
— |
¥6 |
|
Heat-set insert |
M3×5×4 |
1 pack |
— |
Amazon |
¥5 |
|
Servo extension cable |
SCS 3-pin, 26 cm |
12 |
$0.43 |
¥3 |
||
Camera — wrist |
H65V1, 720p, 2.4 mm, 2 m cable |
2 |
~$17 |
Amazon |
¥122 |
|
Bus servo controller |
Waveshare Bus Servo Adapter A |
2 |
$5.00 |
¥27 |
||
USB Type-C cable |
1 m (arm → Pi 5) |
4 |
— |
— |
¥4.8 |
|
3D-printed parts |
PLA/PETG/ABS, Bambu P2S |
— |
— |
— |
— |
|
Leader Arms (×2)#
Item |
Spec |
Qty |
Unit ($) |
Buy (US) |
Unit (¥) |
Buy (CN) |
|---|---|---|---|---|---|---|
Servo — STS-3215 |
ST-3215-C046, 7.4V, 1/147 gear |
14 |
$15.97 |
¥110 |
||
Heat-set insert |
M3×5×4 |
1 pack |
— |
Amazon |
¥5 |
|
Bus servo controller |
Waveshare |
2 |
$12.47 |
¥27 |
||
Power supply 5V |
DC 5V AC adapter |
1 |
$12.99 |
— |
— |
|
USB Type-C cable |
1 m (arm → PC) |
2 |
$7.19 |
¥20 |
||
DC splitter cable |
1-to-2, 70 cm |
1 |
— |
— |
¥6.5 |
|
3D-printed parts |
PLA/PETG/ABS, Bambu P2S |
— |
— |
— |
— |
|
Fasteners & Consumables#
Item |
Spec |
Qty |
Unit ($) |
Buy (US) |
Unit (¥) |
Buy (CN) |
|---|---|---|---|---|---|---|
Heat-set insert M3 |
M3×5×4 mm, 50-pack |
1 pack |
~$0.30 |
Amazon |
¥2.2 |
— |
Hex socket screw M3×10 |
100-pack, blue thread-lock |
3 packs |
~$1.20 |
— |
¥8.5 |
— |
Hex socket screw M3×18 |
50-pack |
1 pack |
~$0.65 |
— |
¥4.72 |
— |
Epoxy adhesive |
Loctite E-120HP 50 mL |
1 |
~$10 |
Amazon |
¥74.9 |
— |
Total Estimate#
CNY |
USD |
|
|---|---|---|
Mobile base |
¥2,475 |
~$344 |
Follower arms |
¥3,320 |
~$461 |
Leader arms |
¥1,646 |
~$277 |
Fasteners & consumables |
¥107 |
~$15 |
Total (self-print) |
¥7,548 |
~$1,097 |
Filament cost (~5 kg) not included above