Bill of Materials
June 6, 2026 · View on GitHub
AlohaMini2 follows the same Client/Host architecture as LeKiwi:
- Host — mobile base + follower arms + compute (Raspberry Pi 5)
- Client — PC workstation + leader arms
Common tools (table clamp, soldering iron, screwdriver set) are not listed.
Mobile Base
| Item | Spec | Qty | Unit ($) | Buy (US) | Unit (¥) | Buy (CN) |
|---|---|---|---|---|---|---|
| Servo — STS-3215 (wheel) | ST-3215-C018, 12V, 1/345 gear | 3 | $15.97 | Alibaba | ¥110 | Taobao |
| Servo — STS-3095 (lift) | ST-3095-C002, 12V, 95 kg·cm | 1 | $50.37 | Alibaba | ¥345 | Taobao |
| Omni wheel | 127 mm (74A) | 3 | $40 | omniawheel.com | ¥289 | Taobao |
| Aluminum extrusion (T-frame) | 20×40×2 mm, L=400 mm (or print O_T_Connector_Cross_Bar.stl) | 1 | ~$1.50 | — | ¥10 | — |
| Steel pin (chassis) | Φ12×80 mm (or print O_Chassis_Dowel_Pin_12_80.stl) | 3 | ~$0.50 | Amazon | ¥3.28 | Taobao |
| Steel pin (lift axis) | Φ12×25 mm (or print O_T_Connector_Dowel_Pin_12_25.stl) | 1 | ~$0.50 | Amazon | ¥3.28 | Taobao |
| Bearing — lift track | 4×13×5 mm | 8 | ~$0.40 | Amazon | ¥3 | Taobao |
| Bearing — chassis/arm/lift | 12×18×4 mm | 8 | ~$0.80 | Amazon | ¥6 | Tmall |
| Camera — front | H65V1, 720p, 2.4 mm, 1 m cable | 1 | ~$17 | Amazon | ¥122 | Taobao |
| Camera — back | H65V1, 720p, 2.4 mm, 1 m cable | 1 | ~$17 | Amazon | ¥122 | Taobao |
| Camera — chest | H65V1, 720p, 2.4 mm, 2 m cable | 1 | ~$17 | Amazon | ¥122 | Taobao |
| Raspberry Pi 5 | 2 GB RAM | 1 | ~$93 | Adafruit | ¥669 | Taobao |
| DC buck converter | 12V→5V 5A (PD protocol) | 1 | ~$9 | Amazon | ¥66 | Taobao |
| Heatsink | Raspberry Pi 5 (passive) | 1 | ~$2.50 | Amazon | ¥18 | Taobao |
| microSD card | 32 GB | 1 | ~$14 | Amazon | ¥99.9 | — |
| HDMI→Micro HDMI cable | 1 m, 4K60Hz | 1 | ~$1 | Amazon | ¥7 | pinduoduo |
| Bus servo controller | Waveshare Bus Servo Adapter A | 1 | $5.00 | Waveshare | ¥27 | Tmall |
| Battery 12V | 11200 mAh, DC 5521 | 2 | ~$16 | Amazon | ¥114 | Taobao |
| DC splitter cable | 1-to-2, 30 cm | 1 | ~$0.60 | Amazon | ¥4.5 | Taobao |
| DC extension cable | 1 m | 2 | ~$0.30 | Amazon | ¥2.3 | Taobao |
| Servo extension cable | 90 cm, Feetech 3-pin | 2 | ~$0.30 | Alibaba | ¥2 | Feetech channel |
| 3D-printed parts | PLA/PETG/ABS, Bambu P2S | — | ~4 kg filament | — | — | /AlohaMini2/hardware/mobile_base/stl/ |
Follower Arms (×2)
Each arm: 6+1 DoF, 52 cm reach, 1 kg payload — based on AM-ARM200.
| Item | Spec | Qty | Unit ($) | Buy (US) | Unit (¥) | Buy (CN) |
|---|---|---|---|---|---|---|
| Servo — STS-3215 | ST-3215-C018, 12V, 1/345 gear | 8 | $15.97 | Alibaba | ¥110 | Taobao |
| Servo — STS-3095 | ST-3095-C002, 12V, 95 kg·cm | 6 | $50.37 | Alibaba | ¥345 | Taobao |
| Hex socket screw M3×10 | 100-pack | 2 packs | — | — | ¥6 | Taobao |
| Heat-set insert | M3×5×4 | 1 pack | — | Amazon | ¥5 | Taobao |
| Servo extension cable | SCS 3-pin, 26 cm | 12 | $0.43 | AliExpress | ¥3 | Taobao |
| Camera — wrist | H65V1, 720p, 2.4 mm, 2 m cable | 2 | ~$17 | Amazon | ¥122 | Taobao |
| Bus servo controller | Waveshare Bus Servo Adapter A | 2 | $5.00 | Waveshare | ¥27 | Tmall |
| USB Type-C cable | 1 m (arm → Pi 5) | 4 | — | — | ¥4.8 | pinduoduo |
| 3D-printed parts | PLA/PETG/ABS, Bambu P2S | — | — | — | — | /AlohaMini2/hardware/arms/stl/ |
Leader Arms (×2)
| Item | Spec | Qty | Unit ($) | Buy (US) | Unit (¥) | Buy (CN) |
|---|---|---|---|---|---|---|
| Servo — STS-3215 | ST-3215-C046, 7.4V, 1/147 gear | 14 | $15.97 | Alibaba | ¥110 | Taobao |
| Heat-set insert | M3×5×4 | 1 pack | — | Amazon | ¥5 | Taobao |
| Bus servo controller | Waveshare | 2 | $12.47 | Amazon | ¥27 | Tmall |
| Power supply 5V | DC 5V AC adapter | 1 | $12.99 | Amazon | — | — |
| USB Type-C cable | 1 m (arm → PC) | 2 | $7.19 | Amazon | ¥20 | Tmall |
| DC splitter cable | 1-to-2, 70 cm | 1 | — | — | ¥6.5 | Taobao |
| 3D-printed parts | PLA/PETG/ABS, Bambu P2S | — | — | — | — | /AlohaMini2/hardware/arms/stl/ |
Fasteners & Consumables
| Item | Spec | Qty | Unit ($) | Buy (US) | Unit (¥) | Buy (CN) |
|---|---|---|---|---|---|---|
| Heat-set insert M3 | M3×5×4 mm, 50-pack | 1 pack | ~$0.30 | Amazon | ¥2.2 | — |
| Hex socket screw M3×10 | 100-pack, blue thread-lock | 3 packs | ~$1.20 | — | ¥8.5 | — |
| Hex socket screw M3×18 | 50-pack | 1 pack | ~$0.65 | — | ¥4.72 | — |
| Epoxy adhesive | Loctite E-120HP 50 mL | 1 | ~$10 | Amazon | ¥74.9 | — |
Total Estimate
| CNY | USD | |
|---|---|---|
| Mobile base | ¥2,475 | ~$344 |
| Follower arms | ¥3,320 | ~$461 |
| Leader arms | ¥1,646 | ~$277 |
| Fasteners & consumables | ¥107 | ~$15 |
| Total (self-print) | ¥7,548 | ~$1,097 |
Filament cost (~5 kg) not included above