How to build

List of parts

1. Brushless -77kPa parallel micro vacuum pump HXB05KNDC 12V EPDM:
   
2. 2 x Inline vacuum filter ZFB200-06B:
   
3. 2 x Vacuum suction cup PUG-100:
   
4. 2 x High speed rotary pneumatic joint KSL 06-01S:
   
5. Pneumatic air tubing: 6mm OD, 4mm ID:
   
6. 2 x 3 way pneumatic fitting SPE-6:
   
7. 2 x KingMax high voltage servo CLS4406HHV:
   
8. 4 x Dynamixel XM430-W350-T servo:
   
9. U2D2 - a converter that enables to control Dynamixels via USB:
   
10. 2 x HN12-I101 horn set:
    
11. BeagleBone Blue:
    
12. 2 x Pololu Adjustable 9-30V Step-Up Voltage Regulator U3V50AHV:
    
13. 2 x 6704ZZ Deep groove ball bearing 20x27x4mm:
    
14. 2 x Nitrile rubber o-ring: 95mm ID, 105mm OD, 5mm width:
    
15. 3PDT mini toggle switch:
    
16. 2PDT mini toggle switch:
    
17. UVA+UVC LED:
    
18. 2S LiPo battery
19. Lots of screws of various sizes
20. Wires

Model files to 3D print

All 3D printable parts were developed using OpenSCAD. Part model files are available in GitHub repository. To use these files the following libraries are required:

• PolyGear
• threadlib

Software

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Putting it all together

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