How to build

List of parts

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

Software

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Putting it all together

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