We believe that the robot as presently configured will cost approximately $800, not including shipping, taxes, or one-time costs (tools, etc.), plus $120 for a bluetooth access point to network up to 7 bots if you can't set up a bluetooth PAN piconet in some other way (we're told it can be done on a bluetooth-enabled Linux box). In bulk the shipping costs should be less significant. Some of our purchases were at places like Radio Shack, etc., and no doubt there are rather cheaper vendors (edit this page to list some!). We imagine with some better sources the price can be reduced to around $700 or less.
| Quantity | Price | Description | Purchased Where | Function | We paid (incl. discount, shipping/tax) |
| 1 | 184.00 | Gumstix Waysmall 200st-bt | http://gumstix.com | Our top-level computer | 195.00 for 1 |
| 1 | 10.00 | Rubber Duck Antenna | http://gumstix.com | Antenna for bluetooth | 10.00 for 1 |
| 1 | 81.00 | Brainstem GP 1.0 Module | http://acroname.com | Servo control, analog and digital ins | 85.00 for 1 |
| 1 | 11.75 | S13-SERIAL-INT-CONN serial interface connector | http://acroname.com | RS232 level shifter for brainstem | 12.00 for 1 |
| 1 | 25.95 | GKWS Gripper with Servo | http://robodyssey.com | Robot Gripper | 28 for 1 |
| 2 | 21.00 | R83-CONT-BB Standard Servo with ball bearings, modified for continuous rotation | http://acroname.com | Wheel motors | 50 for 2 |
| 2 | 3.50 (or cheaper? don't recall) | 22-0026 Standard Microswitch | http://wicothesource.com | very long arm (roughly 3-4") microswitch, great for bump sensors and gripper sensor | 4 for 2 |
| 2 | 12.50 | Sharp GP2D120 IR Sensor | http://acroname.com | Range sensor from 1.5" to 12" | 27 for 2 |
| 1-3 | 11.50 | Sharp GP2D12 IR Sensor | http://acroname.com (A bit cheaper at http://www.junun.com) | Range sensor from 4" to 30" | 25 for 2 |
| 1 or 2 | 7.50 | Palm Macintosh Serial Adapter Cable | http://nuspectra.com | Connects Gumstix DIN8 to plain serial DB9 for CMUCam and Brainstem (if not using I2C), and to debug Gumstix | 88.59 for 7 |
| 1 | 30.00 | Wheel Watcher Two-Pack | http://acroname.com | Provides encoding for wheel servos | 410.00 for 15 |
| 1 | 28.00 | 6v, 5 A-Cell 2700MAh NiMH Flat Battery Pack | http://www.onlybatterypacks.com/ | Robot Battery with Male Standard-Size Tamaya Connectors | 28.00 for 1 |
| 1 | 3.00 | Female Standard-Size Tamaya Connector | Radio Shack | Connects robot to battery | 3.00 for 1 |
| 1 | 28.45 (with BATTERYSPACE code) | CHUN-122 9/18Amp Multi-Current Universal Smart Charger for 6-12V NiMH/NiCD Packs | http://batteryspace.com | Battery charger | 207.70 for 7 |
| 1 | 3.69 | SRVMT-203 Flange-Style Servo Brackets (pair) | http://www.budgetrobotics.com | Hold the wheel servos | 27 for 7 |
| 1 | 7.99 | Custom Base | http://www.budgetrobotics.com | Custom-cut version of the 7 inch Round PVC Base forming the bottom deck | 65 for 8 |
| 1 | 7.99 | Custom Base | http://www.budgetrobotics.com | Custom-cut version of the 7 inch Round PVC Base forming the top deck | 65 for 8 |
| 1 | 2.49 | RISER-SET 2.5 inch Aluminum Risers, Set of 4 | http://www.budgetrobotics.com | Separate the top and bottom bases | 21 for 8 |
| 1 | 8.95 | FAST-440NAST Nylon 4-40 Fastener Assortment | http://www.budgetrobotics.com | Attach the brainstem to the bases, other uses | 20 for 2 |
| 1 | 199.00 (now 169.00) | CMUCam2 Package with OV6620 | http://www.acroname.com | CMUCam | 1393 for 7 |
| 1 | 10.99 | GWS-MICROF GWS Futuba-style Micro Servo | http://www.wholesaletrains.com (Lantz's Hobby Shop, NY) | CMUCam Tilt Servo | 85.88 for 7 |
| 1 | 12.00 | MM-128 128MB MMC Card | http://www.memorypro.com (note: this vendor was slow and could not provide us with the original product we requested) | Flash RAM for the Gumstix | 99.00 for 7 |
| 1 | 1.99 | 3M Dual Lock, 1 foot | http://www.budgetrobotics.com | Attach various things, including camera servo and gumstix to deck | 9 for 4 feet |
| 2 | 4.00 | Black Wheel with O-Ring | http://www.acroname.com | Robot Wheel | 74.80 for 16 |
| N | 0.85 | Bags of Assorted Screws, Nuts, Washers | Home Depot | Attaching stuff | 17.84 for 20 |
| 1 | 2.59 | Heat Shrink Tubing Assortment | Radio Shack (Much cheaper at http://www.jameco.com) | Constructing wires | 2.71 |
| 1 | 2.69 | Black Rocker Single-Pole, Single-Throw Switch | Radio Shack | Power switch for robot (note, Radio Shack rarely carries more than a few at a time -- we wound up hitting several Radio Shacks! :-) | 22.56 for 8 |
| 1 | 4.99 | Bag of 10 M 2.6x16 F/H Tapping Screws (MUGB0634) | Hobby Hangar, Chantilly VA, 703-631-8820 | A longer screw to attach the gripper to the servo (the one provided was too short). Note, this is an unusual sized screw, and ridiculously expensive | 5.24 for 1 |
| 75 | 0.10 | 0.1" Crimp Pins | GMU's Electrical Engineering Lab Store (or http://www.jameco.com ) | Create electrical connectors | 7.50 for 75 |
| 6 | 0.30 | 0.1" 3x1 Crimp Housings | GMU's Electrical Engineering Lab Store (or http://www.jameco.com ) | Create electrical connectors | 1.80 for 6 |
| 3 | 0.25 | 0.1" 2x1 Crimp Housings | GMU's Electrical Engineering Lab Store (or http://www.jameco.com ) | Create electrical connectors | 0.75 for 3 |
| 1 | 0.75 | 0.1" 7x2 Crimp Housing | GMU's Electrical Engineering Lab Store (or http://www.jameco.com ) | Create electrical connectors | 0.75 for 1 |
| 1 | 2.28 | 1" Plate Caster | Lowe's | Robot's caster | 2.40 for 1 |
| 1 | 1.78 | Ribbon cable DB9 Female Connector | http://www.altex.com | Serial cable connecting Brainstem to the Palm Macintosh adapter | 17.00 for 8 |
| 1 | 0.14 | 1 foot of Ribbon Cable | http://www.altex.com | Serial cable connecting Brainstem to the Palm Macintosh adapter | 5.00 for 16 |
| 2 | 0.05 | 5K Ohm Resistors | GMU's Electrical Engineering Lab Store | Constructing switches | 0.10 for 2 |
| 2 | 0.05 | 4.7K Ohm Resistors | GMU's Electrical Engineering Lab Store | I2C Bundle | 0.10 for 2 |
| 1 | 0.05 | 1.5K Ohm Resistors | GMU's Electrical Engineering Lab Store | I2C Bundle | 0.05 |
| 1 | 0.05 | 3.3K Ohm Resistors | GMU's Electrical Engineering Lab Store | I2C Bundle | 0.05 |
| ? | ? | Wire | Various | 18 gauge for power to the brainstem, and camera (and maybe gumstix). 22 gauge is good for switches and I2C (finer than 22 gauge is fine too but gets more difficult to crimp). Use stranded cable. Our scheme is typical: black/ground, red/power, green/signal. We also used telephone cable or other 4-wire cable to extend the WheelWatcher cabling. Wire is quite cheap at http://www.jameco.com | ? |
| Quantity | Price | Description | Purchased Where | Function | We paid (incl. discount, shipping/tax) |
| 1 | ? | Velcro | Home Depot | Attach battery to bottom deck | ? |
| 1 | 2.00 | Aluminum Flashing | Home Depot | Cut and bend this to form supports for the range finders | 2.00 |
| ? | ? | 2mm thick aluminum stock | ? (We had some lying around) | Cut into 3.5" by 0.25" strips and bend to form bracket to attach camera to the camera servo | ? |
| 1 | 6.47 | 3/8" Wrench | Home Depot | Attach Caster to Deck | 6.79 |
| 1 | 6.47 | 1/4" Wrench | Home Depot | Attach Other Stuff to Deck | 5.21 |
| 1 | 119.99 | Belkin F8T030 Bluetooth Access Point | http://www.amazon.com | Enables 7 Robots to be online wirelessly | 240.00 for 2 |
| 1 | 5.00 | Package of Wire ties | Radio Shack, Home Depot, you name it | neatness | 5.00 for 1 |
| 1 | 25.00 | Dazzle Daz 2.0 Zio SD/MMC Card Reader | Micro Center, Fairfax VA 703-204-8400 | Read MMC cards on PC | 25.00 for 1 |
| 1 | 10.00 | PHL-W526 (?) Crimp Tool | Dancon Electronics, Chantilly, VA 703-502-3900 | You'll want this. Otherwise you use pliers and solder and mess up a lot. | 10.00 for 1 |
| 1 | 13.00 | Helping Hands Tool | Radio Shack | Grips objects while you solder them | 13.00 for 1 |
| Price | Description | Purchased Where | Intended Function | Why Not Used | We paid |
| 5.00 | Wheel Watcher Encoding Sticker | http://acroname.com | Provides encoding for wheel servos | We had enough stickers | 10.00 for 2 |
| 2.00 | Wheel Watcher Custom Wheel Spacer | http://acroname.com | Enables attachment of encoding sticker to the Budget Robotics Double-O-Ring Wheels | The Double O-Wheels wheels ultimately proved incompatible with the Wheel Watchers, even with the special spacer, producing flakey results. The spacers also required special screws and countersinking, and it all came to naught. | 30.00 for 16 |
| 6.89 | OWHL-2 Double O-Wheels (pair) | http://www.budgetrobotics.com | Original robot wheels (replaced with ones from Acroname) | See Above | 58 for 8 |
| 1.29 | Gusseted Plastic Angle Brackets (pack of 10) | http://www.budgetrobotics.com | Useful for attaching additional items (sensors, etc.) | Just didn't need them ultimately | 4.50 for 3 |
| 11.49 | Bag of 100 4-40 Flathead Screws | Fischer's Hardware, Springfield, VA 703-451-3700 | Attaching the wheel spacer to the double o-wheels | See Above | 12.06 |
| 4.99 | Bag of 100 4-40 Nuts | Fischer's Hardware, Springfield, VA 703-451-3700 | Attaching the wheel spacer to the double o-wheels | See Above | 5.23 |
| 3.29 | IR LED/Detector Pair | Radio Shack | Making a break-beam sensor to detect objects in the gripper well | Uses far too much power; decided on a switch instead | 3.45 |
| 17.99 | 6v DC 800ma power supply | Radio Shack | Separate power supply for robot | Servos pull too many amps when turned on, even with this big of a power supply. Batteries can handle it, power supply cannot. We might put a big capacitor between the wires to handle the sudden drain | 18.19 for 1 |
