Interdisciplinary · Reference
Parts List
Full inventory for the Voice + Vision + Robot Arm project — already have, still needed, and reserved for later
Current state: core kits and the SO-ARM101 pair are in hand. The LeKiwi base kit arrived early with three defects — all now resolved (details in LeKiwi Base: Delivery, Defects & Wheel Motor Setup). Remaining gaps are small (power supplies, cables, an SD card) plus the Pi 5 power board, in transit.
Not needed yet: the XLeRobot second-arm upgrade parts — deliberately parked until that phase is closer.
Not needed yet: the XLeRobot second-arm upgrade parts — deliberately parked until that phase is closer.
Already have
- AIY Voice Kit (V1)
- AIY Vision Kit (V1)
- 2× Raspberry Pi 4 (1GB)
- SO-ARM101 leader/follower arm pair (WitMotion, Pro DIY kit, 3D-printed parts)
- 10" touchscreen (currently on Pi 3, unused)
- Assorted Arduino components (not needed for the arm, but useful for future sensor/actuator side-projects)
Needed / to double-check
- ☐ Second proper Pi 4 power supply (USB-C, 5V/3A) — confirm two, not just one reused
- ☐ microHDMI adapter/cable, only if a display is wanted directly on the Vision Pi during setup
- ☐ SD card for the second Pi (16GB+, same 2021-04-02 AIY image)
- ☐ USB cable(s) for the arm's controller board → Pi connection
- ☐ Confirm SO-ARM101 servo power supply voltage/amperage matches the specific kit received (5V or 12V variant — check the spec sheet)
- ☐ A flat, well-lit workspace/mount point for the arm + camera during demonstration recording (Phase 3–4) — not hardware exactly, but worth planning early since dataset quality depends on consistent camera positioning
For LeKiwi (Phase 7)
- ✅ LeKiwi base kit delivered (OpenELAB, 12V, without Pi, Order #13152, Aug 31 — three weeks ahead of the mid-September estimate) — 3D-printed frame, 3× omni wheels, 3× C018 wheel-drive servos, servo driver board, 12V/5600mAh battery + charger, 1× 2MP camera. Three defects found, complaint filed with OpenELAB (wrong buck converter, arm mount doesn't fit the base plate, undersized mounting screws) — full details: LeKiwi Base: Delivery, Defects & Wheel Motor Setup. Replacement PLA arm mount + correctly-sized screws needed before physical assembly can proceed.
- ✅ 8× STS3215 (C018) servos, WitMotion — completes servo count for 2 follower arms
- ✅ 2× Waveshare Bus Servo Adapter (A) — USB-serial bus controllers for the arm(s)
- ✅ Pi 5 power board resolved — Yahboom Raspberry Pi 5 Power Expansion Board ordered (AliExpress, €18, ETA 8–15 Sept), replacing the kit's underspec'd 3A onboard converter. Full comparison and reasoning: Hardware Notes.
- ✅ Confirm which existing Raspberry Pi 5 (4GB) gets dedicated to this build — resolved, same Pi 5 the power board is sized for
Reserved for the future XLeRobot upgrade — not needed yet
- One additional SO-101-class follower arm's worth of mounting hardware (servos already covered by the 8-pack above)
- ~$250 in base/structural upgrade parts — exact BOM to confirm closer to the time; note XLeRobot 0.4.0's base structure has diverged from LeKiwi's original design, so some structural prints may need replacing rather than just adding to
- IKEA RÅSKOG cart — confirm current XLeRobot design still specifies this
Optional / later
- Laptop or cloud GPU access for Phase 6 training
- MQTT broker or simple HTTP server setup, for Phase 5 inter-Pi communication (can run on either Pi — no extra hardware needed)
The M.2 slot / AI accelerator decision (Pi 5 PCIe HAT → NVMe SSD, not an accelerator) lives in Hardware Notes, alongside the reasoning.