Plone Mraz

Engineering BOM — indented view

Readable views, with mass roll-up and sourcing status

Open on GitHub Mở trên GitHub

Snapshot of this document in the GEMs repository. The repository itself is the current version. Bản chụp tài liệu này trong repo GEMs. Bản đang chạy nằm ở chính repo.

Generated by build_bom.py from parts.csv, ebom.csv and avl.csv. Do not hand-edit; see README.md.

Summary
Part numbers 296 (ASSY 35, CABLE 4, CONS 6, MATL 5, MFG 42, OTS 167, PCBA 27, SW 10)
LAB parts — no part number exists to give 9
Parts with a selected manufacturer part 1
Parts with candidates only 17
Parts with a verified price 8
Parts with a mass figure 20
Body mass rolled up from known figures 44.2 kg of a 96.2 kg budget — incomplete, blanks count as zero

Body

Level Find Part number Description Qty UoM Cat Maturity Mass kg (unit) AVL
0 GEM-10000 GEMs body, reference design A (2 h with dock, 65% armour, 1.65 m) 1 EA ASSY TM ≥ 44.20
1 10 GEM-11000   Head assembly 1 EA ASSY TM
2 10 GEM-11010     Head structure 1 EA MFG TM
2 20 GEM-11020     Camera module, 4K 30 fps 12 bit 2 EA OTS TM
2 30 GEM-11030     Thermal IR camera, 640x480 30 fps 16 bit 1 EA OTS TM
2 40 GEM-11040     LiDAR / depth sensor, 300k points/s 1 EA OTS TM
2 50 GEM-11050     Microphone, array element 16 EA OTS TM
2 60 GEM-11060     Electronic nose 1 EA OTS TM
2 70 GEM-11070     Taste analyser, lab-on-chip 1 EA MFG LAB
2 80 GEM-11080     Speaker and ultrasonic emitter 1 EA OTS TM
2 90 GEM-11090     Micro facial and pupil actuator set 1 SET MFG LAB
2 100 GEM-11100     Head sensor hub PCBA 1 EA PCBA TM
2 110 GEM-11099     Fastener set, head assembly 1 SET OTS TM
1 20 GEM-12000   Neck assembly 1 EA ASSY TM ≥ 0.34
2 10 GEM-21600     Joint module, neck yaw 1 EA ASSY TM 0.17 candidate AKH70-16 V1.0 KV41
3 10 GEM-21601       Motor, frameless BLDC, neck yaw 1 EA OTS TM
3 20 GEM-21602       Reducer, harmonic, neck yaw 1 EA OTS TM
3 30 GEM-21603       Output bearing, neck yaw 1 EA OTS TM
3 40 GEM-21604       Absolute encoder, motor side, neck yaw 1 EA OTS TM
3 50 GEM-21605       Absolute encoder, output side, neck yaw 1 EA OTS TM
3 60 GEM-21606       Joint torque sensor, neck yaw 1 EA OTS TM
3 70 GEM-21607       Joint drive PCBA, neck yaw 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-21608       Housing, 7075-T6, neck yaw 1 EA MFG TM
3 90 GEM-21609       Fastener set, neck yaw 1 SET OTS TM
2 20 GEM-21700     Joint module, neck pitch 1 EA ASSY TM 0.17 candidate AKH70-16 V1.0 KV41
3 10 GEM-21701       Motor, frameless BLDC, neck pitch 1 EA OTS TM
3 20 GEM-21702       Reducer, harmonic, neck pitch 1 EA OTS TM
3 30 GEM-21703       Output bearing, neck pitch 1 EA OTS TM
3 40 GEM-21704       Absolute encoder, motor side, neck pitch 1 EA OTS TM
3 50 GEM-21705       Absolute encoder, output side, neck pitch 1 EA OTS TM
3 60 GEM-21706       Joint torque sensor, neck pitch 1 EA OTS TM
3 70 GEM-21707       Joint drive PCBA, neck pitch 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-21708       Housing, 7075-T6, neck pitch 1 EA MFG TM
3 90 GEM-21709       Fastener set, neck pitch 1 SET OTS TM
2 30 GEM-12099     Fastener set, neck assembly 1 SET OTS TM
1 30 GEM-13000   Torso assembly 1 EA ASSY TM ≥ 12.21
2 10 GEM-13010     Pelvis structure 1 EA MFG TM
2 20 GEM-13020     Torso structure, upper thorax 1 EA MFG TM
2 30 GEM-13021     Spine segment structure, lumbar 1 EA MFG TM
2 40 GEM-13022     Spine segment structure, lower thoracic 1 EA MFG TM
2 50 GEM-13023     Spine coupling mechanism, three axes over three segments 1 SET MFG TM
2 60 GEM-20800     Joint module, trunk yaw 1 EA ASSY TM 0.80 candidate AKH70-48 V1.0 KV41
3 10 GEM-20801       Motor, frameless BLDC, trunk yaw 1 EA OTS TM
3 20 GEM-20802       Reducer, trunk yaw 1 EA OTS TM
3 30 GEM-20803       Output bearing, trunk yaw 1 EA OTS TM
3 40 GEM-20804       Absolute encoder, motor side, trunk yaw 1 EA OTS TM
3 50 GEM-20805       Absolute encoder, output side, trunk yaw 1 EA OTS TM
3 60 GEM-20806       Joint torque sensor, trunk yaw 1 EA OTS TM
3 70 GEM-20807       Joint drive PCBA, trunk yaw 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-20808       Housing, 7075-T6, trunk yaw 1 EA MFG TM
3 90 GEM-20809       Fastener set, trunk yaw 1 SET OTS TM
2 70 GEM-20700     Joint module, trunk pitch 1 EA ASSY TM 1.88 candidate AKH70-48 V1.0 KV41
3 10 GEM-20701       Motor, frameless BLDC, trunk pitch 1 EA OTS TM
3 20 GEM-20702       Reducer, trunk pitch 1 EA OTS TM
3 30 GEM-20703       Output bearing, trunk pitch 1 EA OTS TM
3 40 GEM-20704       Absolute encoder, motor side, trunk pitch 1 EA OTS TM
3 50 GEM-20705       Absolute encoder, output side, trunk pitch 1 EA OTS TM
3 60 GEM-20706       Joint torque sensor, trunk pitch 1 EA OTS TM
3 70 GEM-20707       Joint drive PCBA, trunk pitch 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-20708       Housing, 7075-T6, trunk pitch 1 EA MFG TM
3 90 GEM-20709       Fastener set, trunk pitch 1 SET OTS TM
2 80 GEM-21800     Joint module, trunk roll 1 EA ASSY TM 1.03 candidate AKH70-48 V1.0 KV41
3 10 GEM-21801       Motor, frameless BLDC, trunk roll 1 EA OTS TM
3 20 GEM-21802       Reducer, trunk roll 1 EA OTS TM
3 30 GEM-21803       Output bearing, trunk roll 1 EA OTS TM
3 40 GEM-21804       Absolute encoder, motor side, trunk roll 1 EA OTS TM
3 50 GEM-21805       Absolute encoder, output side, trunk roll 1 EA OTS TM
3 60 GEM-21806       Joint torque sensor, trunk roll 1 EA OTS TM
3 70 GEM-21807       Joint drive PCBA, trunk roll 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-21808       Housing, 7075-T6, trunk roll 1 EA MFG TM
3 90 GEM-21809       Fastener set, trunk roll 1 SET OTS TM
2 90 GEM-13030     IMU, torso — EA OTS TM
2 100 GEM-13100     Power assembly 1 EA ASSY TM ≥ 8.50
3 10 GEM-13110       Cell stack 1 EA ASSY TM 8.50
4 10 GEM-13111         Cell, durable tier — EA OTS TM candidate Amprius, candidate SOLiTHOR
3 20 GEM-13120       Battery management PCBA 1 EA PCBA TM
4 10 GEM-40030         Firmware image, battery management 1 EA SW TM
3 30 GEM-13130       Pack enclosure 1 EA MFG TM
3 40 GEM-13140       Supercapacitor bank 1 EA OTS TM
3 50 GEM-13150       Pre-charge, contactor and fuse set 1 SET OTS TM
3 60 GEM-13160       Power distribution and DC-DC PCBA 1 EA PCBA TM
3 70 GEM-13170       Always-on rail PCBA 1 EA PCBA TM
3 80 GEM-13199       Fastener set, power assembly 1 SET OTS TM
2 110 GEM-13200     Compute assembly 1 EA ASSY TM
3 10 GEM-13210       Edge AI module 1 EA OTS TM selected 900-13834-0080-000
3 20 GEM-13220       Edge module carrier PCBA 1 EA PCBA TM
3 30 GEM-13230       Real-time computer PCBA, EtherCAT master 1 EA PCBA TM
4 10 GEM-40020         Firmware image, real-time computer 1 EA SW TM
3 40 GEM-13240       Audit log storage, 2 TB 1 EA OTS TM
3 50 GEM-13250       SDR front-end, 2 ch x 56 MHz 1 EA OTS TM
3 60 GEM-13260       On-board computer (OBC), link-loss kernel 1 EA OTS TM
4 10 GEM-40100         Kernel image, on-board computer 1 EA SW TM
3 70 GEM-40080       OS image, edge AI module 1 EA SW TM
3 80 GEM-40090       GEMs software stack, edge AI module 1 EA SW TM
3 90 GEM-13299       Fastener set, compute assembly 1 SET OTS TM
2 120 GEM-13300     Communications assembly 1 EA ASSY TM
3 10 GEM-13310       mmWave uplink radio, 60 GHz 1 EA OTS TM
3 20 GEM-13320       Fallback link module, LEO / cellular 1 EA OTS TM
3 30 GEM-13330       Low-power beacon radio 1 EA OTS TM
4 10 GEM-40040         Firmware image, beacon radio 1 EA SW TM
3 40 GEM-13340       Spatial RF sensing front-end 1 EA OTS TM
3 50 GEM-13350       Secure element — EA OTS TM
4 10 GEM-40050         Firmware image, secure element 1 EA SW TM
3 60 GEM-13399       Fastener set, communications assembly 1 SET OTS TM
2 130 GEM-13400     Cardiac co-regulation module 1 EA OTS TM
2 140 GEM-13099     Fastener set, torso assembly 1 SET OTS TM
1 40 GEM-14000   Arm assembly, left 1 EA ASSY TM ≥ 3.99
2 10 GEM-20900     Joint module, shoulder pitch 1 EA ASSY TM 1.17
3 10 GEM-20901       Motor, frameless BLDC, shoulder pitch 1 EA OTS TM
3 20 GEM-20902       Reducer, planetary, shoulder pitch 1 EA OTS TM
3 30 GEM-20903       Output bearing, shoulder pitch 1 EA OTS TM
3 40 GEM-20904       Absolute encoder, motor side, shoulder pitch 1 EA OTS TM
3 50 GEM-20905       Absolute encoder, output side, shoulder pitch 1 EA OTS TM
3 60 GEM-20906       Joint torque sensor, shoulder pitch 1 EA OTS TM
3 70 GEM-20907       Joint drive PCBA, shoulder pitch 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-20908       Housing, 7075-T6, shoulder pitch 1 EA MFG TM
3 90 GEM-20909       Fastener set, shoulder pitch 1 SET OTS TM
2 20 GEM-21000     Joint module, shoulder roll 1 EA ASSY TM 0.90 candidate AKH70-48 V1.0 KV41
3 10 GEM-21001       Motor, frameless BLDC, shoulder roll 1 EA OTS TM
3 20 GEM-21002       Reducer, planetary, shoulder roll 1 EA OTS TM
3 30 GEM-21003       Output bearing, shoulder roll 1 EA OTS TM
3 40 GEM-21004       Absolute encoder, motor side, shoulder roll 1 EA OTS TM
3 50 GEM-21005       Absolute encoder, output side, shoulder roll 1 EA OTS TM
3 60 GEM-21006       Joint torque sensor, shoulder roll 1 EA OTS TM
3 70 GEM-21007       Joint drive PCBA, shoulder roll 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-21008       Housing, 7075-T6, shoulder roll 1 EA MFG TM
3 90 GEM-21009       Fastener set, shoulder roll 1 SET OTS TM
2 30 GEM-21100     Joint module, shoulder yaw 1 EA ASSY TM 0.68 candidate AKH70-16 V1.0 KV41
3 10 GEM-21101       Motor, frameless BLDC, shoulder yaw 1 EA OTS TM
3 20 GEM-21102       Reducer, planetary, shoulder yaw 1 EA OTS TM
3 30 GEM-21103       Output bearing, shoulder yaw 1 EA OTS TM
3 40 GEM-21104       Absolute encoder, motor side, shoulder yaw 1 EA OTS TM
3 50 GEM-21105       Absolute encoder, output side, shoulder yaw 1 EA OTS TM
3 60 GEM-21106       Joint torque sensor, shoulder yaw 1 EA OTS TM
3 70 GEM-21107       Joint drive PCBA, shoulder yaw 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-21108       Housing, 7075-T6, shoulder yaw 1 EA MFG TM
3 90 GEM-21109       Fastener set, shoulder yaw 1 SET OTS TM
2 40 GEM-14010     Upper arm structure, left 1 EA MFG TM
2 50 GEM-21200     Joint module, elbow 1 EA ASSY TM 0.56
3 10 GEM-21201       Motor, frameless BLDC, elbow 1 EA OTS TM
3 20 GEM-21202       Reducer, planetary, elbow 1 EA OTS TM
3 30 GEM-21203       Output bearing, elbow 1 EA OTS TM
3 40 GEM-21204       Absolute encoder, motor side, elbow 1 EA OTS TM
3 50 GEM-21205       Absolute encoder, output side, elbow 1 EA OTS TM
3 60 GEM-21206       Joint torque sensor, elbow 1 EA OTS TM
3 70 GEM-21207       Joint drive PCBA, elbow 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-21208       Housing, 7075-T6, elbow 1 EA MFG TM
3 90 GEM-21209       Fastener set, elbow 1 SET OTS TM
2 60 GEM-14020     Forearm structure, left 1 EA MFG TM
2 70 GEM-21300     Joint module, wrist yaw 1 EA ASSY TM 0.23 candidate AKH70-16 V1.0 KV41
3 10 GEM-21301       Motor, frameless BLDC, wrist yaw 1 EA OTS TM
3 20 GEM-21302       Reducer, harmonic, wrist yaw 1 EA OTS TM
3 30 GEM-21303       Output bearing, wrist yaw 1 EA OTS TM
3 40 GEM-21304       Absolute encoder, motor side, wrist yaw 1 EA OTS TM
3 50 GEM-21305       Absolute encoder, output side, wrist yaw 1 EA OTS TM
3 60 GEM-21306       Joint torque sensor, wrist yaw 1 EA OTS TM
3 70 GEM-21307       Joint drive PCBA, wrist yaw 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-21308       Housing, 7075-T6, wrist yaw 1 EA MFG TM
3 90 GEM-21309       Fastener set, wrist yaw 1 SET OTS TM
2 80 GEM-21400     Joint module, wrist pitch 1 EA ASSY TM 0.23 candidate AKH70-16 V1.0 KV41
3 10 GEM-21401       Motor, frameless BLDC, wrist pitch 1 EA OTS TM
3 20 GEM-21402       Reducer, harmonic, wrist pitch 1 EA OTS TM
3 30 GEM-21403       Output bearing, wrist pitch 1 EA OTS TM
3 40 GEM-21404       Absolute encoder, motor side, wrist pitch 1 EA OTS TM
3 50 GEM-21405       Absolute encoder, output side, wrist pitch 1 EA OTS TM
3 60 GEM-21406       Joint torque sensor, wrist pitch 1 EA OTS TM
3 70 GEM-21407       Joint drive PCBA, wrist pitch 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-21408       Housing, 7075-T6, wrist pitch 1 EA MFG TM
3 90 GEM-21409       Fastener set, wrist pitch 1 SET OTS TM
2 90 GEM-21500     Joint module, wrist roll 1 EA ASSY TM 0.23 candidate AKH70-16 V1.0 KV41
3 10 GEM-21501       Motor, frameless BLDC, wrist roll 1 EA OTS TM
3 20 GEM-21502       Reducer, harmonic, wrist roll 1 EA OTS TM
3 30 GEM-21503       Output bearing, wrist roll 1 EA OTS TM
3 40 GEM-21504       Absolute encoder, motor side, wrist roll 1 EA OTS TM
3 50 GEM-21505       Absolute encoder, output side, wrist roll 1 EA OTS TM
3 60 GEM-21506       Joint torque sensor, wrist roll 1 EA OTS TM
3 70 GEM-21507       Joint drive PCBA, wrist roll 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-21508       Housing, 7075-T6, wrist roll 1 EA MFG TM
3 90 GEM-21509       Fastener set, wrist roll 1 SET OTS TM
2 100 GEM-14900     Hand assembly, left, 5 DOF 1 EA ASSY TM
3 10 GEM-14910       Hand structure, left 1 EA MFG TM
3 20 GEM-14920       Finger actuator, left 5 EA OTS TM
3 30 GEM-14999       Fastener set, hand assembly 1 SET OTS TM
2 110 GEM-14099     Fastener set, arm assembly 1 SET OTS TM
1 50 GEM-16000   Leg assembly, left 1 EA ASSY TM ≥ 7.93
2 10 GEM-20200     Joint module, hip roll 1 EA ASSY TM 1.33 candidate AKH70-48 V1.0 KV41
3 10 GEM-20201       Motor, frameless BLDC, hip roll 1 EA OTS TM
3 20 GEM-20202       Reducer, cycloidal, hip roll 1 EA OTS TM
3 30 GEM-20203       Output bearing, hip roll 1 EA OTS TM
3 40 GEM-20204       Absolute encoder, motor side, hip roll 1 EA OTS TM
3 50 GEM-20205       Absolute encoder, output side, hip roll 1 EA OTS TM
3 60 GEM-20206       Joint torque sensor, hip roll 1 EA OTS TM
3 70 GEM-20207       Joint drive PCBA, hip roll 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-20208       Housing, 7075-T6, hip roll 1 EA MFG TM
3 90 GEM-20209       Fastener set, hip roll 1 SET OTS TM
2 20 GEM-20100     Joint module, hip pitch 1 EA ASSY TM 1.92 candidate AKH70-48 V1.0 KV41
3 10 GEM-20101       Motor, frameless BLDC, hip pitch 1 EA OTS TM
3 20 GEM-20102       Reducer, cycloidal, hip pitch 1 EA OTS TM
3 30 GEM-20103       Output bearing, hip pitch 1 EA OTS TM
3 40 GEM-20104       Absolute encoder, motor side, hip pitch 1 EA OTS TM
3 50 GEM-20105       Absolute encoder, output side, hip pitch 1 EA OTS TM
3 60 GEM-20106       Joint torque sensor, hip pitch 1 EA OTS TM
3 70 GEM-20107       Joint drive PCBA, hip pitch 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-20108       Housing, 7075-T6, hip pitch 1 EA MFG TM
3 90 GEM-20109       Fastener set, hip pitch 1 SET OTS TM
2 30 GEM-20300     Joint module, hip yaw 1 EA ASSY TM 0.67 candidate AKH70-48 V1.0 KV41, candidate AKH70-16 V1.0 KV41
3 10 GEM-20301       Motor, frameless BLDC, hip yaw 1 EA OTS TM
3 20 GEM-20302       Reducer, cycloidal, hip yaw 1 EA OTS TM
3 30 GEM-20303       Output bearing, hip yaw 1 EA OTS TM
3 40 GEM-20304       Absolute encoder, motor side, hip yaw 1 EA OTS TM
3 50 GEM-20305       Absolute encoder, output side, hip yaw 1 EA OTS TM
3 60 GEM-20306       Joint torque sensor, hip yaw 1 EA OTS TM
3 70 GEM-20307       Joint drive PCBA, hip yaw 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-20308       Housing, 7075-T6, hip yaw 1 EA MFG TM
3 90 GEM-20309       Fastener set, hip yaw 1 SET OTS TM
2 40 GEM-16010     Thigh structure, left 1 EA MFG TM
2 50 GEM-20400     Joint module, knee 1 EA ASSY TM 1.92 candidate AKH70-48 V1.0 KV41
3 10 GEM-20401       Motor, frameless BLDC, knee 1 EA OTS TM
3 20 GEM-20402       Reducer, cycloidal, knee 1 EA OTS TM
3 30 GEM-20403       Output bearing, knee 1 EA OTS TM
3 40 GEM-20404       Absolute encoder, motor side, knee 1 EA OTS TM
3 50 GEM-20405       Absolute encoder, output side, knee 1 EA OTS TM
3 60 GEM-20406       Joint torque sensor, knee 1 EA OTS TM
3 70 GEM-20407       Joint drive PCBA, knee 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-20408       Housing, 7075-T6, knee 1 EA MFG TM
3 90 GEM-20409       Fastener set, knee 1 SET OTS TM
2 60 GEM-16020     Shank structure, left 1 EA MFG TM
2 70 GEM-20500     Joint module, ankle pitch 1 EA ASSY TM 1.51 candidate AKH70-48 V1.0 KV41
3 10 GEM-20501       Motor, frameless BLDC, ankle pitch 1 EA OTS TM
3 20 GEM-20502       Reducer, ankle pitch 1 EA OTS TM
3 30 GEM-20503       Output bearing, ankle pitch 1 EA OTS TM
3 40 GEM-20504       Absolute encoder, motor side, ankle pitch 1 EA OTS TM
3 50 GEM-20505       Absolute encoder, output side, ankle pitch 1 EA OTS TM
3 60 GEM-20506       Joint torque sensor, ankle pitch 1 EA OTS TM
3 70 GEM-20507       Joint drive PCBA, ankle pitch 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-20508       Housing, 7075-T6, ankle pitch 1 EA MFG TM
3 90 GEM-20509       Fastener set, ankle pitch 1 SET OTS TM
2 80 GEM-20600     Joint module, ankle roll 1 EA ASSY TM 0.58 candidate AKH70-16 V1.0 KV41
3 10 GEM-20601       Motor, frameless BLDC, ankle roll 1 EA OTS TM
3 20 GEM-20602       Reducer, ankle roll 1 EA OTS TM
3 30 GEM-20603       Output bearing, ankle roll 1 EA OTS TM
3 40 GEM-20604       Absolute encoder, motor side, ankle roll 1 EA OTS TM
3 50 GEM-20605       Absolute encoder, output side, ankle roll 1 EA OTS TM
3 60 GEM-20606       Joint torque sensor, ankle roll 1 EA OTS TM
3 70 GEM-20607       Joint drive PCBA, ankle roll 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-20608       Housing, 7075-T6, ankle roll 1 EA MFG TM
3 90 GEM-20609       Fastener set, ankle roll 1 SET OTS TM
2 90 GEM-16030     Foot structure, left 1 EA MFG TM
2 100 GEM-16040     Foot contact sensing, left 1 EA OTS TM
2 110 GEM-16099     Fastener set, leg assembly 1 SET OTS TM
1 60 GEM-15000   Arm assembly, right 1 EA ASSY TM ≥ 3.99
2 10 GEM-20900     Joint module, shoulder pitch 1 EA ASSY TM 1.17
3 10 GEM-20901       Motor, frameless BLDC, shoulder pitch 1 EA OTS TM
3 20 GEM-20902       Reducer, planetary, shoulder pitch 1 EA OTS TM
3 30 GEM-20903       Output bearing, shoulder pitch 1 EA OTS TM
3 40 GEM-20904       Absolute encoder, motor side, shoulder pitch 1 EA OTS TM
3 50 GEM-20905       Absolute encoder, output side, shoulder pitch 1 EA OTS TM
3 60 GEM-20906       Joint torque sensor, shoulder pitch 1 EA OTS TM
3 70 GEM-20907       Joint drive PCBA, shoulder pitch 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-20908       Housing, 7075-T6, shoulder pitch 1 EA MFG TM
3 90 GEM-20909       Fastener set, shoulder pitch 1 SET OTS TM
2 20 GEM-21000     Joint module, shoulder roll 1 EA ASSY TM 0.90 candidate AKH70-48 V1.0 KV41
3 10 GEM-21001       Motor, frameless BLDC, shoulder roll 1 EA OTS TM
3 20 GEM-21002       Reducer, planetary, shoulder roll 1 EA OTS TM
3 30 GEM-21003       Output bearing, shoulder roll 1 EA OTS TM
3 40 GEM-21004       Absolute encoder, motor side, shoulder roll 1 EA OTS TM
3 50 GEM-21005       Absolute encoder, output side, shoulder roll 1 EA OTS TM
3 60 GEM-21006       Joint torque sensor, shoulder roll 1 EA OTS TM
3 70 GEM-21007       Joint drive PCBA, shoulder roll 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-21008       Housing, 7075-T6, shoulder roll 1 EA MFG TM
3 90 GEM-21009       Fastener set, shoulder roll 1 SET OTS TM
2 30 GEM-21100     Joint module, shoulder yaw 1 EA ASSY TM 0.68 candidate AKH70-16 V1.0 KV41
3 10 GEM-21101       Motor, frameless BLDC, shoulder yaw 1 EA OTS TM
3 20 GEM-21102       Reducer, planetary, shoulder yaw 1 EA OTS TM
3 30 GEM-21103       Output bearing, shoulder yaw 1 EA OTS TM
3 40 GEM-21104       Absolute encoder, motor side, shoulder yaw 1 EA OTS TM
3 50 GEM-21105       Absolute encoder, output side, shoulder yaw 1 EA OTS TM
3 60 GEM-21106       Joint torque sensor, shoulder yaw 1 EA OTS TM
3 70 GEM-21107       Joint drive PCBA, shoulder yaw 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-21108       Housing, 7075-T6, shoulder yaw 1 EA MFG TM
3 90 GEM-21109       Fastener set, shoulder yaw 1 SET OTS TM
2 40 GEM-15010     Upper arm structure, right 1 EA MFG TM
2 50 GEM-21200     Joint module, elbow 1 EA ASSY TM 0.56
3 10 GEM-21201       Motor, frameless BLDC, elbow 1 EA OTS TM
3 20 GEM-21202       Reducer, planetary, elbow 1 EA OTS TM
3 30 GEM-21203       Output bearing, elbow 1 EA OTS TM
3 40 GEM-21204       Absolute encoder, motor side, elbow 1 EA OTS TM
3 50 GEM-21205       Absolute encoder, output side, elbow 1 EA OTS TM
3 60 GEM-21206       Joint torque sensor, elbow 1 EA OTS TM
3 70 GEM-21207       Joint drive PCBA, elbow 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-21208       Housing, 7075-T6, elbow 1 EA MFG TM
3 90 GEM-21209       Fastener set, elbow 1 SET OTS TM
2 60 GEM-15020     Forearm structure, right 1 EA MFG TM
2 70 GEM-21300     Joint module, wrist yaw 1 EA ASSY TM 0.23 candidate AKH70-16 V1.0 KV41
3 10 GEM-21301       Motor, frameless BLDC, wrist yaw 1 EA OTS TM
3 20 GEM-21302       Reducer, harmonic, wrist yaw 1 EA OTS TM
3 30 GEM-21303       Output bearing, wrist yaw 1 EA OTS TM
3 40 GEM-21304       Absolute encoder, motor side, wrist yaw 1 EA OTS TM
3 50 GEM-21305       Absolute encoder, output side, wrist yaw 1 EA OTS TM
3 60 GEM-21306       Joint torque sensor, wrist yaw 1 EA OTS TM
3 70 GEM-21307       Joint drive PCBA, wrist yaw 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-21308       Housing, 7075-T6, wrist yaw 1 EA MFG TM
3 90 GEM-21309       Fastener set, wrist yaw 1 SET OTS TM
2 80 GEM-21400     Joint module, wrist pitch 1 EA ASSY TM 0.23 candidate AKH70-16 V1.0 KV41
3 10 GEM-21401       Motor, frameless BLDC, wrist pitch 1 EA OTS TM
3 20 GEM-21402       Reducer, harmonic, wrist pitch 1 EA OTS TM
3 30 GEM-21403       Output bearing, wrist pitch 1 EA OTS TM
3 40 GEM-21404       Absolute encoder, motor side, wrist pitch 1 EA OTS TM
3 50 GEM-21405       Absolute encoder, output side, wrist pitch 1 EA OTS TM
3 60 GEM-21406       Joint torque sensor, wrist pitch 1 EA OTS TM
3 70 GEM-21407       Joint drive PCBA, wrist pitch 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-21408       Housing, 7075-T6, wrist pitch 1 EA MFG TM
3 90 GEM-21409       Fastener set, wrist pitch 1 SET OTS TM
2 90 GEM-21500     Joint module, wrist roll 1 EA ASSY TM 0.23 candidate AKH70-16 V1.0 KV41
3 10 GEM-21501       Motor, frameless BLDC, wrist roll 1 EA OTS TM
3 20 GEM-21502       Reducer, harmonic, wrist roll 1 EA OTS TM
3 30 GEM-21503       Output bearing, wrist roll 1 EA OTS TM
3 40 GEM-21504       Absolute encoder, motor side, wrist roll 1 EA OTS TM
3 50 GEM-21505       Absolute encoder, output side, wrist roll 1 EA OTS TM
3 60 GEM-21506       Joint torque sensor, wrist roll 1 EA OTS TM
3 70 GEM-21507       Joint drive PCBA, wrist roll 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-21508       Housing, 7075-T6, wrist roll 1 EA MFG TM
3 90 GEM-21509       Fastener set, wrist roll 1 SET OTS TM
2 100 GEM-15900     Hand assembly, right, 5 DOF 1 EA ASSY TM
3 10 GEM-15910       Hand structure, right 1 EA MFG TM
3 20 GEM-15920       Finger actuator, right 5 EA OTS TM
3 30 GEM-15999       Fastener set, hand assembly 1 SET OTS TM
2 110 GEM-15099     Fastener set, arm assembly 1 SET OTS TM
1 70 GEM-17000   Leg assembly, right 1 EA ASSY TM ≥ 7.93
2 10 GEM-20200     Joint module, hip roll 1 EA ASSY TM 1.33 candidate AKH70-48 V1.0 KV41
3 10 GEM-20201       Motor, frameless BLDC, hip roll 1 EA OTS TM
3 20 GEM-20202       Reducer, cycloidal, hip roll 1 EA OTS TM
3 30 GEM-20203       Output bearing, hip roll 1 EA OTS TM
3 40 GEM-20204       Absolute encoder, motor side, hip roll 1 EA OTS TM
3 50 GEM-20205       Absolute encoder, output side, hip roll 1 EA OTS TM
3 60 GEM-20206       Joint torque sensor, hip roll 1 EA OTS TM
3 70 GEM-20207       Joint drive PCBA, hip roll 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-20208       Housing, 7075-T6, hip roll 1 EA MFG TM
3 90 GEM-20209       Fastener set, hip roll 1 SET OTS TM
2 20 GEM-20100     Joint module, hip pitch 1 EA ASSY TM 1.92 candidate AKH70-48 V1.0 KV41
3 10 GEM-20101       Motor, frameless BLDC, hip pitch 1 EA OTS TM
3 20 GEM-20102       Reducer, cycloidal, hip pitch 1 EA OTS TM
3 30 GEM-20103       Output bearing, hip pitch 1 EA OTS TM
3 40 GEM-20104       Absolute encoder, motor side, hip pitch 1 EA OTS TM
3 50 GEM-20105       Absolute encoder, output side, hip pitch 1 EA OTS TM
3 60 GEM-20106       Joint torque sensor, hip pitch 1 EA OTS TM
3 70 GEM-20107       Joint drive PCBA, hip pitch 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-20108       Housing, 7075-T6, hip pitch 1 EA MFG TM
3 90 GEM-20109       Fastener set, hip pitch 1 SET OTS TM
2 30 GEM-20300     Joint module, hip yaw 1 EA ASSY TM 0.67 candidate AKH70-48 V1.0 KV41, candidate AKH70-16 V1.0 KV41
3 10 GEM-20301       Motor, frameless BLDC, hip yaw 1 EA OTS TM
3 20 GEM-20302       Reducer, cycloidal, hip yaw 1 EA OTS TM
3 30 GEM-20303       Output bearing, hip yaw 1 EA OTS TM
3 40 GEM-20304       Absolute encoder, motor side, hip yaw 1 EA OTS TM
3 50 GEM-20305       Absolute encoder, output side, hip yaw 1 EA OTS TM
3 60 GEM-20306       Joint torque sensor, hip yaw 1 EA OTS TM
3 70 GEM-20307       Joint drive PCBA, hip yaw 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-20308       Housing, 7075-T6, hip yaw 1 EA MFG TM
3 90 GEM-20309       Fastener set, hip yaw 1 SET OTS TM
2 40 GEM-17010     Thigh structure, right 1 EA MFG TM
2 50 GEM-20400     Joint module, knee 1 EA ASSY TM 1.92 candidate AKH70-48 V1.0 KV41
3 10 GEM-20401       Motor, frameless BLDC, knee 1 EA OTS TM
3 20 GEM-20402       Reducer, cycloidal, knee 1 EA OTS TM
3 30 GEM-20403       Output bearing, knee 1 EA OTS TM
3 40 GEM-20404       Absolute encoder, motor side, knee 1 EA OTS TM
3 50 GEM-20405       Absolute encoder, output side, knee 1 EA OTS TM
3 60 GEM-20406       Joint torque sensor, knee 1 EA OTS TM
3 70 GEM-20407       Joint drive PCBA, knee 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-20408       Housing, 7075-T6, knee 1 EA MFG TM
3 90 GEM-20409       Fastener set, knee 1 SET OTS TM
2 60 GEM-17020     Shank structure, right 1 EA MFG TM
2 70 GEM-20500     Joint module, ankle pitch 1 EA ASSY TM 1.51 candidate AKH70-48 V1.0 KV41
3 10 GEM-20501       Motor, frameless BLDC, ankle pitch 1 EA OTS TM
3 20 GEM-20502       Reducer, ankle pitch 1 EA OTS TM
3 30 GEM-20503       Output bearing, ankle pitch 1 EA OTS TM
3 40 GEM-20504       Absolute encoder, motor side, ankle pitch 1 EA OTS TM
3 50 GEM-20505       Absolute encoder, output side, ankle pitch 1 EA OTS TM
3 60 GEM-20506       Joint torque sensor, ankle pitch 1 EA OTS TM
3 70 GEM-20507       Joint drive PCBA, ankle pitch 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-20508       Housing, 7075-T6, ankle pitch 1 EA MFG TM
3 90 GEM-20509       Fastener set, ankle pitch 1 SET OTS TM
2 80 GEM-20600     Joint module, ankle roll 1 EA ASSY TM 0.58 candidate AKH70-16 V1.0 KV41
3 10 GEM-20601       Motor, frameless BLDC, ankle roll 1 EA OTS TM
3 20 GEM-20602       Reducer, ankle roll 1 EA OTS TM
3 30 GEM-20603       Output bearing, ankle roll 1 EA OTS TM
3 40 GEM-20604       Absolute encoder, motor side, ankle roll 1 EA OTS TM
3 50 GEM-20605       Absolute encoder, output side, ankle roll 1 EA OTS TM
3 60 GEM-20606       Joint torque sensor, ankle roll 1 EA OTS TM
3 70 GEM-20607       Joint drive PCBA, ankle roll 1 EA PCBA TM
4 10 GEM-40010         Firmware image, joint drive 1 EA SW TM
3 80 GEM-20608       Housing, 7075-T6, ankle roll 1 EA MFG TM
3 90 GEM-20609       Fastener set, ankle roll 1 SET OTS TM
2 90 GEM-17030     Foot structure, right 1 EA MFG TM
2 100 GEM-17040     Foot contact sensing, right 1 EA OTS TM
2 110 GEM-17099     Fastener set, leg assembly 1 SET OTS TM
1 80 GEM-18000   Shell and protection assembly 1 EA ASSY TM ≥ 7.80
2 10 GEM-18010     Armour panel, integrated multi-threat 1.04 M2 MATL TM 7.50
2 20 GEM-18020     Sense-and-heal layer, e-skin and self-healing polymer 1.60 M2 MATL LAB
2 30 GEM-18030     Variable-stiffness layer, MR / ER / jamming — M2 MATL LAB
2 40 GEM-18040     Fire layer, sacrificial — M2 MATL TM
2 50 GEM-18050     Electrochromic colour layer — M2 MATL LAB
2 60 GEM-18060     Tactile taxel, fine region (hands, face) 150000 EA MFG LAB
2 70 GEM-18070     Tactile taxel, ordinary region 350000 EA MFG LAB
2 80 GEM-18080     Tactile readout PCBA — EA PCBA LAB
3 10 GEM-40060       Firmware image, tactile readout 1 EA SW TM
2 90 GEM-18090     Shell field driver PCBA (MR coils / ER HV / electrochromic) — EA PCBA LAB
3 10 GEM-40070       Firmware image, shell field driver 1 EA SW TM
2 100 GEM-18099     Fastener set, shell and protection assembly 1 SET OTS TM
1 90 GEM-19000   Harness assembly 1 EA ASSY TM
2 10 GEM-19010     EtherCAT joint chain cable set 1 SET CABLE TM
2 20 GEM-19020     CAN FD sensing bus cable set 1 SET CABLE TM
2 30 GEM-19030     HV power distribution cable set 1 SET CABLE TM
2 40 GEM-19040     Sensor link cable set (camera, LiDAR, audio) 1 SET CABLE TM
2 50 GEM-19099     Fastener set, harness assembly 1 SET OTS TM
1 100 GEM-10099   Fastener set, gems body 1 SET OTS TM

Ground equipment

Level Find Part number Description Qty UoM Cat Maturity Mass kg (unit) AVL
0 GEM-30000 Dock, seat form, with charging contacts 1 EA ASSY TM
1 10 GEM-30010   Dock structure 1 EA MFG TM
1 20 GEM-30020   Charging contact set 1 SET OTS TM
1 30 GEM-30030   Dock charger PCBA 1 EA PCBA TM
1 40 GEM-30099   Fastener set, dock 1 SET OTS TM