# K2Aley GAR-BOT Bill Of Materials

Copyright (c) 2026 K2Aley. All rights reserved.

## Main Controller And Interface

| Qty | Part | Purpose |
| ---: | --- | --- |
| 1 | Raspberry Pi 5 with Wi-Fi | Main robot computer; Wi-Fi used for SSH, setup, and local API/touchscreen service |
| 1 optional | RP5 relay HAT | Only usable if verified stacking/clearance does not conflict with the Pico Voice I2C wiring |
| 1 | Pico Voice board / voice hardware | Voice input/control path on RP5 I2C-1: SDA `GPIO2/P3`, SCL `GPIO3/P5` |
| 1 | Powered USB hub | Active expansion path for claws, LoRa bridge, touchscreen, and service devices |
| 1 | USB PWM/GPIO controller | Drives IBT-2 PWM/enables and RGB driver logic so motor wiring stays off the Pico Voice I2C bus |
| 1 | 7 inch USB touchscreen | Local dashboard/control display |

## Drive And Power

| Qty | Part | Purpose |
| ---: | --- | --- |
| 4 | XD-60GA775-style 24V gear motor | Direct-drive wheel motors; one motor per wheel |
| 4 | IBT-2 / BTS7960 motor driver | One H-bridge per motor |
| 2 | 12V LiFePO4 battery | 24V-class series pack |
| 1 | Main fuse | Battery positive protection |
| 1 | Emergency stop switch | Kill 24V load bus |
| 1 | 24V-to-5V 5A buck converter | Raspberry Pi power |
| 1 | 24V-to-5V/6V servo buck | Two-claw servo power |
| 1 | Common ground block | Shared logic ground |

## Ground-Effect RGB Lighting

The supplied photo reference is added as nine RGB LED star modules for
underbody ground-effect lighting. These are not powered from Raspberry Pi GPIO.
Use a fused lighting branch and a proper LED driver/current-limited output
stage. Add two side-mounted up/down servos to raise/lower the left and right
ground-effect light rails.

| Qty | Part | Purpose |
| ---: | --- | --- |
| 9 | RGB LED star module | Underbody ground-effect lights; clear sealed pods are required before splash testing |
| 1 | Fused lighting branch | Protected feed from switched 24V bus |
| 1 | LED buck or constant-current supply | Match the LED board voltage/current before final connection |
| 1 | RGB LED driver / MOSFET board | PWM driver stage for RGB channels |
| 2 | Side-mounted up/down ground-effect tilt servos | Raise/lower the left and right ground-effect light rails |
| As needed | Clear gasketed light pods/lenses | Required before LED PCBs can be considered splash protected |

## Two Claws

GAR-BOT has two front-shoulder telescopic claws: `Claw Left 1` and `Claw Right 2`.

| Qty | Part | Purpose |
| ---: | --- | --- |
| 2 | Keyestudio PLUS-style controller board | One USB servo controller per claw |
| 12 | Servo motors | Six servos per claw board |
| 2 | USB cables | Pi to claw boards |

## Radio / PCB

| Qty | Part | Purpose |
| ---: | --- | --- |
| 1 | DX-LR30 / DX-PJ26 / SX1262 LoRa module | Primary long-range control/status |
| 1 | STM32F103C8Tx radio bridge | Radio bridge MCU |
| 1 | ST-LINK V2 | STM32 flashing/debug |
| 1 | 3.3V regulator | Radio PCB logic power |

## Remote Control Transmitter

The active transmitter is Raspberry Pi Zero 2 W + Pico Voice in an RC-style
handheld case. Add the transmitter controls from the reference photo, but do
not install the Arduino Pro Mini or nRF24L01+ module.

| Qty | Part | Purpose |
| ---: | --- | --- |
| 1 | Raspberry Pi Zero 2 W with Wi-Fi | Remote transmitter computer; Wi-Fi used for SSH, Picovoice setup, and LAN command tests |
| 1 | Pico Voice board | Voice input, buttons, speaker/headset path |
| 1 | LoRa transmitter module or LoRa USB bridge | Sends commands to GAR-BOT |
| 2 | Joystick modules with thumb caps | Drive/turn and claw/manual control inputs |
| 2 | 10k potentiometers with knobs | Trim or speed/servo limit controls |
| 2 | Small toggle or slide switches | Mode/arm/lighting control inputs |
| 4 | Momentary command buttons | Stop, talk, mode, and status inputs |
| 1 | 2x18650 protected battery holder | Remote transmitter battery pack |
| 1 | Protected 5V regulator / USB-C boost-charger module | Regulated Pi Zero 2 W power from the 18650 pack |
| 1 | SMA antenna bulkhead and LoRa antenna | External antenna path for the LoRa transmitter |
| As needed | Pin headers, JST leads, switch caps, and panel hardware | Mounts and connects the transmitter controls |
| 0 | Arduino Pro Mini | Removed from GAR-BOT remote design |
| 0 | nRF24L01+ module | Removed; LoRa and Wi-Fi are the active radio paths |
| 1 | RC-style handheld transmitter enclosure | Holds RP Zero 2 W, Pico Voice, controls, battery holder, and LoRa |

## Sealing Upgrade

GAR-BOT is not water resistant as built. These materials are required before any
wet or splash testing.

| Qty | Part | Purpose |
| ---: | --- | --- |
| As needed | IP67 cable glands | Cable entries for the sealing upgrade |
| As needed | Panel-mount USB bulkheads | USB pass-throughs |
| 1 | SMA bulkhead connector | LoRa antenna pass-through |
| As needed | EPDM / silicone gasket material | Electronics bay and touchscreen seals |
| 1 | Conformal coating | PCB splash protection |
| 1 | Dielectric grease | Connector corrosion protection |
| As needed | Stainless screws | Corrosion resistance |

## 3D Printed Parts

All printable files are in `3d_print_parts/stl_exports/` and in
`GAR-BOT_STL_Files.zip`. Use PETG or ASA for protective outdoor-ready printed parts.

| Qty | Part files / modules | Purpose |
| ---: | --- | --- |
| 1 each | `frame_left_side_rail`, `frame_right_side_rail`, `frame_front_crossmember`, `frame_rear_crossmember`, `frame_bottom_skid_plate`, `frame_center_battery_tray`, `frame_electronics_deck_plate`, `frame_claw_bridge` | Chassis, deck, skid, and front shoulder claw structure |
| 1 each | `electronics_bay`, `gasketed_lid`, `cable_gland_panel` | Protective Raspberry Pi 5 electronics bay; not water resistant until gasketed, gland-sealed, and tested |
| 4 | `ibt2_driver_cover` | Covers motor drivers |
| 1-2 | `buck_converter_cover` | Covers buck converters |
| 4 | `motor_splash_shield` | Protects drive motors |
| 12-20 | `drip_loop_cable_clip` | Cable routing and drip loops |
| 1 each | `touchscreen_bezel`, `touchscreen_rain_hood`, `frame_touchscreen_upright_left`, `frame_touchscreen_upright_right`, `frame_touchscreen_top_bar` | 7 inch touchscreen mount and rain hood |
| 1 each | `left_claw_base_mount`, `right_claw_base_mount`, `frame_claw_bridge` | Two-claw front shoulder mounting |
| 2 each | `telescopic_claw_outer_sleeve`, `telescopic_claw_inner_slider`, `telescopic_claw_lock_collar` | Front telescopic claw reach mechanism |
| 2 each | `round_shoulder_mount`, `sealed_servo_pocket`, `wrist_servo_cradle`, `claw_palm`, `claw_gear_guard`, `forearm_wire_cover`, `claw_controller_cover` | Left/right claw structure and covers |
| 4 | `claw_gripper_finger` | Two fingers per claw |
| 4-8 | `claw_link_bar` | Claw linkage bars |
| 1 each | `remote_zero2w_pico_voice_case_front`, `remote_zero2w_pico_voice_case_back`, `remote_lora_antenna_bulkhead` | RC-style remote transmitter enclosure with dual joystick openings, pot/switch/button holes, 2x18650 holder space, and LoRa antenna support |
| 1 each | `lora_antenna_bulkhead_guard`, `k2aley_lid_badge`, `water_warning_badge` | LoRa guard, lid badge, dry-use/sealing warning |
| 2 | `k2aley_side_badge` | K2Aley side branding |