This page contains the complete bill of materials (BOM) for building the Brushless Actuator Module Core v1. The module weighs 150g and outputs 2.5Nm at 12A.
Core Component Overview
Core components - total weight: 95g
Off-the-Shelf Components
Brushless DC Motor
| Description | Quantity | Ordering Information | Comments |
|---|
| T-Motor Antigravity 4004 300kV | 1 | T-Motor Store / Globeflight #1974 | 2 motors per set, 24 magnets / 12 pole pairs / 18 slots, Weight: 53g |
Encoder and Codewheel
Option A: Encoder + Separate Codewheel (Recommended)
| Description | Quantity | Ordering Information | Comments |
|---|
| Encoder Broadcom AEDT-9810-Z00 | 1 | Mouser #630-AEDT9810Z00 / DigiKey #516-3256-ND | Encoder without codewheel, 5000 pulses per revolution per channel, Weight: 5g |
| Codewheel for AEDT-9810-Z00 | 1 | PWB Encoders #104768 | Email [email protected] for quote, Order: 104768 / 625cpr 3K / ID 7mm / OD 25.56mm, PWB ships worldwide |
| Encoder Codewheel PWB Mount | 1 | STL file | 3D printed - use SLA/Polyjet/Multijet, Weight: 0.3g |
Option B: Encoder Kit
| Description | Quantity | Ordering Information | Comments |
|---|
| Broadcom Encoder Kit AEDM-5810-Z12 | 1 | Mouser #630-AEDM5810Z12 / DigiKey #516-3253-ND | Kit with encoder and codewheel, Requires disassembly |
| Codewheel Mount Encoder Kit | 1 | STL file | 3D printed - use SLA/Polyjet/Multijet, Weight: 0.3g |
Option C: ODRI Encoder Kit
| Description | Quantity | Ordering Information | Comments |
|---|
| ODRI Encoder Kit | 1 | See Actuator Module Core v1.1 | Includes encoder, codewheel, and all machined parts |
Timing Belts
| Description | Quantity | Ordering Information | Comments |
|---|
| Conti Synchroflex AT3 GEN III (4mm x 150mm, 50 teeth) | 1 | Reiff #60047626 / Beltingonline | First stage timing belt, Weight: 1.5g, 4mm width not listed on Reiff website - email [email protected] for quote |
| Conti Synchroflex AT3 GEN III (6mm x 201mm, 67 teeth) | 1 | Reiff #60005258 / Beltingonline | Second stage timing belt, Weight: 3.0g, Email [email protected] for quote |
Bearings
| Description | Quantity | Ordering Information | Comments |
|---|
| EZO Bearing 61705 2RS VA (32mm x 25mm x 4mm) | 2 | Emiliana Cuscinetti / EZO USA / SBN #C02748 / Online Bearing Store | Output shaft bearing, Stainless steel (VA), Weight: 6.9g each, SBN ships worldwide |
| EZO Bearing MR84 VA (8mm x 4mm x 2mm) | 3 | Emiliana Cuscinetti / EZO USA / SBN #N09724 / Online Bearing Store | Motor shaft and center shaft, Stainless steel (VA), Weight: 0.4g each, SBN ships worldwide |
Timing Belt Tensioner Option A (Default)
| Description | Quantity | Ordering Information | Comments |
|---|
| EZO Bearing 683 2Z VA (7mm x 3mm x 3mm) | 2 | Emiliana Cuscinetti / EZO USA / SBN #N05560 / Online Bearing Store | Belt tensioner bearing, Stainless steel (VA), Weight: 0.4g each, SBN ships worldwide |
| Timing Belt Tensioner Roller 10mm | 2 | STL file | 3D printed - use SLA/Polyjet/Multijet, Weight: 0.2g each |
Timing Belt Tensioner Option B
| Description | Quantity | Ordering Information | Comments |
|---|
| SKF Bearing 623-2Z (10mm x 3mm x 4mm) | 2 | RS Germany #285-0807 / Quality Bearings Online | Alternative to 7mm bearing + roller, Chrome steel |
3D Printed Parts
All 3D printed pulleys and precision parts should be printed using SLA, Polyjet, or Multijet printers for optimal tooth profile accuracy.
| Description | Quantity | File | Comments |
|---|
| Transmission Pulley AT3 T30 Center | 1 | STL file | SLA/Polyjet/Multijet, Weight: 4.2g |
| Transmission Pulley AT3 T30 Output | 1 | STL file | SLA/Polyjet/Multijet, Weight: 6.7g |
Machined Parts
| Description | Quantity | Drawing | Comments |
|---|
| Motor Shaft | 1 | PDF drawing | Stainless steel 1.4301 h9 4mm, Weight: 3.2g |
| Motor Pulley AT3 T10 | 1 | PDF drawing | 7075 Aluminum, Weight: 0.6g, Requires custom form cutter |
| Center Pulley AT3 T10 | 1 | PDF drawing | 7075 Aluminum, Weight: 2.1g, Requires custom form cutter |
Do NOT use standard AT3 timing belt pulley tools. The tooth profile has been modified to reduce backlash. See Machined Parts for detailed manufacturing instructions. Fasteners
| Description | Quantity | Ordering Information | Comments |
|---|
| M3 x 5 Flat Head Screw | 4 | Online Schrauben | Motor mounting, Stainless steel, Ships within Europe |
| M3 x 10 Flat Head Screw | 2 | Online Schrauben | Belt tensioner mounting, Stainless steel, Ships within Europe |
| M3 x 16 Phillips Flat Head Screw | 2 | Conrad #839967 | Encoder mounting, Polyamide plastic, 10 pieces per set |
| M2.5 Washer | 2 | Online Schrauben | Belt tensioner (Option A), Stainless steel |
| M3 Washer | 2 | Online Schrauben / McMaster #90965A130 | Belt tensioner (Option B), Stainless steel |
Helical Inserts
| Description | Quantity | Ordering Information | Comments |
|---|
| Helicoil M3 x 6 (2xD) | 2 | RS #470-834 / Hoffmann #082814 M3 / McMaster #91732A773 | Output shaft, Böllhoff 41890030006, Requires M3 Helicoil tools |
Wires and Connectors
Motor Phase Connections
| Description | Quantity | Ordering Information | Comments |
|---|
| 2mm Gold Connectors (Reely RE-1373188) | 3 | Conrad #1373188 / HobbyKing | Motor phase connectors, Conrad: 2 pairs/set, HobbyKing: 10 pairs/set |
| LiY 0.50 mm² Wire - Black | 3 | Kabeltronik #1601050 / Conrad #609337 / McMaster #8054T14 | Motor phase wires, 100m spool, Kabeltronik most flexible |
Encoder Connections
| Description | Quantity | Ordering Information | Comments |
|---|
| Hirose DF13 Socket 5 Pin | 1 | RS #143-015 / DigiKey #H2182-ND | Encoder connector housing, 1.25mm pitch |
| Hirose DF13 Crimp Terminals | 5 | RS #503-8325 / DigiKey #H9992CT-ND | 26 AWG terminals, Requires crimp tool |
| LifY 0.14 mm² Wire | 5 | Kabeltronik #1601014 | Encoder wires, 100m spool, Colors: red, yellow, black, white, green |
| Description | Ordering Information | Comments |
|---|
| Hirose DF13 Crimp Tool | RS #503-8331 | Required for DF13 terminals |
Encoder Wiring Convention
Standard wiring convention for encoder connections
| Pin | Function | Wire Color (Kabeltronik) |
|---|
| 1 | VCC (+5V) | Red |
| 2 | Channel A | Yellow |
| 3 | Channel B | White |
| 4 | Index | Green |
| 5 | GND | Black |
Weight Summary
| Component Category | Weight |
|---|
| Motor (T-Motor 4004) | 53g |
| Encoder | 5g |
| Timing Belts | 4.5g |
| Bearings (total) | 16g |
| Machined Parts | 5.9g |
| 3D Printed Parts | 11.3g |
| Fasteners | 2.9g |
| Core Components Total | 95g |
| Complete Module (with shell) | 150g |
Transmission Specifications
- First Stage Reduction: 3:1 (30 teeth / 10 teeth)
- Second Stage Reduction: 3:1 (30 teeth / 10 teeth)
- Total Gear Reduction: 9:1
- Output Torque: 2.5 Nm @ 12A
Europe
USA
Italy
International
For the most cost-effective purchasing, coordinate orders to minimize shipping costs. Many suppliers offer quantity discounts for building multiple actuator modules.