Step 5: Parts

Here is a comprehensive list of all of the parts needed to build one Multipurpose Mobile Manipulator Mk 1, separated by components for control, actuation, power distribution, and raw materials. The estimated cost for all parts is estimated to be roughly 1500 USD, more or less depending on the suppliers chosen and the materials already owned.


  • Laptop computer
  • A to B USB Cable
  • 1x Large Perfboard
  • 1x Arduino Mega 2560 R3
  • 1x Dual 12V DC Motor Driver
  • 2x A4988 Stepper Motor Driver
  • 4x HC-SR04 Ultrasonic Rangefinders
  • 10x 3ft Servo Extension Cables
  • Red and black 18 gauge wires
  • Assorted colored 22 gauge wires
  • Assorted wire connector headers
  • Female crimp wire connectors
  • Male crimp wire connectors
  • 3x 80mm Computer Fans
  • Assorted Nylon spacers
  • Heatshrink Tubing
  • Spiral Wire Wrap
  • Electrical Tape


  • 2x 5 in Wheels
  • 2x 8 mm Wheel Hub
  • 1x Caster Wheel 2x1x2 1/2 in
  • 2x 12V High Torque DC Gearmotor
  • 2x 12V 150mm NEMA 17 Linear Lead Screw Stepper motor
  • 4x Aluminum Right Angle Stepper Motor Mount
  • 2x Steel Extension Springs, 2.5 in
  • 10x Standard Hobby Servos
  • 4x Large Hobby Servos


  • 2x 12V 8AH Sealed Lead Acid Battery
  • 1x 12V Sealed Lead Acid Battery Charger
  • 1x 12V to 6V DC Step Down Voltage Converter
  • 1x Rocker Switch SPDT 10A
  • 1x Terminal Block Bus Bar
  • 1x Red Emergency Stop
  • 2x Roller Limit Switches
  • 4x XT60 Male Connectors
  • 4x XT60 Female Connectors


  • 1/4 x 1/8 in Threaded Aluminum Rod
  • 24x Aluminum Extrusion Right Angle Support
  • 4x Aluminum Extrusion 20x20x610 mm
  • 8x Aluminum Extrusion Sliding Nut
  • 4-40 Screws, Nuts, Washers
  • 2-56 Screws, Nuts, Washers
  • 6-32 Screws, Nuts, Washers
  • 3D Printer Filament
  • 4x Magnetic Latch
  • 4x Metal Hinge
  • 1/4 in Plywood
  • 1/8 in Acrylic
<p>Hi, I think this is the best robot ever made! It's so incredible, what it can do is amazing! Normally, most robots can do only one task, but your project broke this rule. Congratulations!</p>
<p>Thanks MohamedElkhatri! Wait till you see version 2 ;)</p>
<p>Pretty sure it will be amazing as well. Just a small proposition if you don't mind : why don't you give it &quot;home assistant&quot; tasks such as home control and make it familiar with its environment. Hope you a good luck!</p>
I need someone who will pick up what is dropped and ask where it goes then put it away.
<p>An interesting idea. The robot can be made a little shorter to pick things up from the floor. Speech recognition is also definitely something to explore.</p>
I plan on having my students build something similar to this using an electric wheelchair as base. This design gives me more ideas!
<p>Glad to hear! Feel free to use whatever you need and I hope you will learn something useful going over this Instructable. Let me know if you need help with anything and I will be glad to advise :) </p>
Amazing build, looks incredibly modular! Any thoughts on dressing it in a tux when you're done, to make it a robot butler? ;)
<p>Certainly. I'm thinking painting it black,, making the acrylic front plate white and giving it a bow tie :)</p>

About This Instructable




Bio: Just a guy that likes building robots and videogames.
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