The Micro Wheeled-Leg Robot BOM is split into two categories: purchased components that you source from suppliers, and fabricated parts that you manufacture yourself through 3D printing, CNC machining, or laser/water-jet cutting. In addition, four custom PCBs must be ordered from Gerber files. The tables below list all items. For precise motor specifications and any part numbers not listed here, refer to theDocumentation Index
Fetch the complete documentation index at: https://mintlify.com/MuShibo/Micro-Wheeled_leg-Robot/llms.txt
Use this file to discover all available pages before exploring further.
BOM.xlsx spreadsheet in the project repository.
The full
BOM.xlsx spreadsheet — including motor specs, exact hardware fastener counts, and supplier part numbers — is available in the Micro-Wheeled_leg-Robot GitHub repository. Always cross-reference the spreadsheet for the most up-to-date quantities and substitutions.Purchased Components
These parts are bought off-the-shelf and assembled onto or into the robot.| Item | Qty | Notes |
|---|---|---|
| BLDC hub motors (small, for wheels) | 2 | Exact motor model and KV rating in BOM.xlsx |
| FEETECH STS3032 bus servo | 2 | One per leg joint; left servo ID = 1, right servo ID = 2 |
| 2S LiPo battery with XH2.54 plug | 1 | ~7.4 V nominal, ~250–500 mAh recommended; verify connector polarity before first use |
| GH1.25 4-pin double-ended cable, 15 cm | 3 | Left encoder → Controller, right encoder → Controller, IMU → Controller |
| AS5600 disc magnet (diametrically magnetised) | 2 | Glued to motor shaft end; gap to AS5600 PCB should be 0.5–2 mm |
| M2 screws and standoffs | — | Quantities and lengths per 3D assembly model |
| M3 screws and standoffs | — | Quantities and lengths per 3D assembly model |
| Bearings (press-fit for leg joints) | — | Bearing inner/outer dimensions specified in 3D model |
Fabricated Parts
The mechanical structure of the robot is a combination of 3D-printed polymer parts and precision-machined metal components. Nylon powder (SLS) is the recommended material for the printed leg parts because of its toughness and dimensional accuracy, but PLA or PETG can be used for prototyping.| Part | Qty | Method |
|---|---|---|
| Calf | 1 | 3D print (nylon powder recommended) |
| Calf_MIR | 1 | 3D print (mirror of Calf) |
| Thigh | 1 | 3D print (nylon powder recommended) |
| Thigh_MIR | 1 | 3D print (mirror of Thigh) |
| ThighCover | 1 | 3D print |
| ThighCover_MIR | 1 | 3D print (mirror of ThighCover) |
| ColumnCover | 2 | 3D print |
| Hub | 2 | 3D print (one per wheel motor) |
| PCBCover | 1 | 3D print (optional protective cover for Controller PCB) |
| BodyBase | 1 | CNC machined — steel |
| MotorBase | 1 | CNC machined — aluminium 6061 |
| Carbon fiber panel | 1 set | Laser-cut or water-jet cut from carbon fiber sheet |
1.RobotModel/Parts-Manufactured/ folder of the repository. The complete robot assembly model (OriginalRobotModel.stp), located in 1.RobotModel/, can be opened in any STEP-compatible CAD tool (e.g. Fusion 360, FreeCAD, SolidWorks) to verify part fits and tolerances before fabrication.
Custom PCBs
Four custom PCBs must be fabricated and assembled. Gerber files for each board are located under2.Hardware/. All boards are designed for standard 2-layer, 1.6 mm FR-4 process. See the PCB Overview page for full component details and fabrication notes.
| PCB | Gerber File | BOM File |
|---|---|---|
| Controller PCB | Gerber_PCB_Controller.zip | BOM_PCB_Controller.csv |
| Encoder PCB | Gerber_PCB_Encoder.zip | BOM_PCB_Encoder.csv |
| IMU PCB | Gerber_PCB_IMU.zip | BOM_PCB_IMU.csv |
| Servo Debug PCB | Gerber_PCB_ServoDebug.zip | BOM_ServoDebug.csv |