Cost Accountability Worksheet 2016

Team Name: Trident Robotics Team #: 4296 Date: 3/17/201
Event: Peoria Regional City: Gurnee State: IL
Item Description Material Source Quantity Measurement Unit Price Total Price
Major System Names Here
Describe the Part
(Axle, Bearing, Lifter, Solenoid) What is it made from How Many
Subsystem 1: Chassis
Chassis gearbox plate To cover gearbox 6061 1/8" Sheet Metal McMaster Carr 2 22.884 in^2 $0.13 $5.86
Chassis plate inner L2 Chassis inner side plate - left 5052 1/8" Sheet Metal SpeedyMetals 1 165.797 in^2 $0.12 $19.07
Chassis plate inner R Chassis inner side plate - right 5052 1/8" Sheet Metal SpeedyMetals 1 165.656 in^2 $0.12 $19.05
Chassis plate outer Chassis outer side plate 5052 1/8" Sheet Metal SpeedyMetals 2 151.957 in^2 $0.12 $34.95
double stack gear shaft Shaft to hold two gears 6061 1/2" Round Stock McMaster Carr 4 1.009 in $0.12 $0.46
encoder shaft Shaft to connect to encoder 6061 1/2" Hex Shaft McMaster Carr 2 0.811 in $0.12 $0.19
inner 3 gear shaft Shaft for free spinning gears 6061 1/2" Round Stock McMaster Carr 12 3.518 in $0.19 $8.21
Iris cross bar Connects the two chassis sides 6061 2"x1" 1/8" Rect. Tubing SpeedyMetals 1 19.178 in $0.36 $6.91
Iris cross bar Mid Connects the two chassis sides 6061 2"x1" 1/8" Rect. Tubing SpeedyMetals 1 19.178 in $0.36 $6.91
Iris cross bar Mid bottom gusset Connects the cross bars 5052 1/8" Sheet Metal SpeedyMetals 2 5.069 in^2 $0.12 $1.17
Iris hex standoff Shaft to connect two side plates 6061 1/2" Churro Shaft AndyMark 28 3.518 in $0.17 $16.42
IrisWheelHexShaft Shaft the wheel rotate on 6061 1/2" Hex Shaft McMaster Carr 6 3.893 in $0.40 $9.37
Middle Support Mount Block Connects the supports of the kicker Block 6061 McMaster Carr 1 2.054 in^3 $0.09 $0.18
Middle Support Mount Block L Connects the supports of the kicker Block 6061 McMaster Carr 1 2.054 in^3 $0.09 $0.18
Spacer Spaces the CIM drive train motor 6061 1/8" Sheet Metal McMaster Carr 2 7.868 in^2 $0.13 $2.05
1/2" Hex Flanged Bearing COTS Various Vex 24 Piece $4.99 $119.76
1/2" Round Bearing COTS Various Vex 20 Piece $2.99 $59.80
1/4-20 3/4" Bolt COTS Steel McMaster Carr 114 Piece $0.12 $14.00
11 Tooth Cim Gear COTS Steel Vex 4 Piece $7.99 $31.96
14 Tooth 8mm Shaft Gear COTS Steel Vex 2 Piece $7.99 $15.98
40 Tooth 1/2" Hex Gear COTS 7076 Vex 10 Piece $9.99 $99.90
48 Tooth 1/2" Hex Gear COTS 7076 Vex 24 Piece $14.99 $359.76
5/32" Rivets COTS Steel McMaster Carr 165 Piece $0.10 $16.57
8" Pneumatic Wheel COTS Various AndyMark 6 Piece $37.00 $222.00
CIM COTS Various Vex 2 Piece $27.99 $55.98
CIM COTS Various KOP 2 Piece $27.99 $55.98
Subtotals: $916.55
Subsystem 2: Ball Manipulator/Kicker
0.5inHexShaft For intake roller arm 6061 1/2" Hex Shaft McMaster Carr 2 16.442 in $0.39 $12.76
0.5inHexShaft0.125Spacer Spacer for arms ABS Plastic 3/4" ID McMaster Carr 12 0.125 in $0.31 $0.46
0.5inHexShaft19 Axis for intake actuation 6061 1/2" Hex Shaft McMaster Carr 1 19.553 in $0.39 $7.59
0.5inHexShaft20 Axis for intake roller 6061 1/2" Hex Shaft McMaster Carr 1 19.303 in $0.39 $7.49
Ball Intake Motor spacer Spacer between motor and arm ABS Plastic 3/4" ID McMaster Carr 2 0.13875 in $0.31 $0.08
Ball manipulator mount Mount for intake arm 6061 2"x1" 1/8" Rect. Tubing SpeedyMetals 1 8.03 in $0.36 $2.89
Ball manipulator mountL Mount for intake arm 6061 2"x1" 1/8" Rect. Tubing SpeedyMetals 1 8.03 in $0.36 $2.89
Intake Arm L Left side of intake arm 6061 1/8" Sheet Metal McMaster Carr 2 24.936 in^2 $0.13 $6.48
Intake arm pulley spacer Spacer between collar and pulley PLA Plastic MakerBot 6 0.003 lb $24.00 $0.43
Intake Arm R Right side of intake arm 6061 1/8" Sheet Metal 2 24.182 in^2 $0.13 $6.29
Intake pivot spacer Between intake arms and mount PLA Plastic MakerBot 2 0.002 lb $24.00 $0.10
intakeArmPulley Pulley for intake arm rollers PLA Plastic 6 0.005 lb $24.00 $0.72
Kicker back support gusset inside Gusset for back inside kicker 5052 1/8" Sheet Metal SpeedyMetals 2 4.981 in^2 $0.12 $1.15
Kicker back support gusset outside Gusset for back outside kicker 5052 1/8" Sheet Metal SpeedyMetals 2 5.231 in^2 $0.12 $1.20
Kicker front support gusset bottom Gusset for front bottom of kicker 5052 1/8" Sheet Metal SpeedyMetals 2 5.606 in^2 $0.12 $1.29
motorMountSheetMetal Motor mount for intake 6061 3x1" 1/8" Rect. Tubing SpeedyMetals 2 1.75 in 0.61 $2.14
2016 FIRSTRobotics Competition
Bill of Materials
Where did you buy it
(Home Depot, AndyMark, S Piece, Inch, Etc. Cost Per Unit ($)
CAW 2016

pvc pipe Pipe for intake roller PVC 3/4"ID Home Depot 1 16.307 in $0.02 $0.24
Roller mount side gusset Gusset for intake mount 5052 1/8" Sheet Metal SpeedyMetals 2 4.264 in^2 $0.12 $0.98
Top Roller Spacer 2 Spacer between roller and chassis ABS Plastic 3/4" ID McMaster Carr 1 0.125 in $0.31 $0.04
#25 Chain COTS Steel Vex 2 14 in $0.08 $2.32
1" 8-32 Standoff COTS 6061 Vex 34 Piece $0.40 $13.43
1" PVC Pipe Cap COTS PVC Home Depot 2 Piece $0.73 $1.46
1/2" Hex Collar COTS 6061 Vex 6 Piece $2.99 $17.94
16 Tooth 1/2" Hex Sprocket COTS 7075 Vex 6 Piece $6.99 $41.94
8-32 1/4" Screw COTS Stainless Steel Vex 68 Piece $0.07 $5.09
BAG Motor COTS Various Vex 3 Piece $24.99 $49.98
BaneBots 1-3/8" T40 Wheel COTS Various BaneBots 6 Piece $2.50 $15.00
Base VersaPlanetary 1:1 with 1/2" Hex Output COTS Various Vex 3 Piece $39.99 $119.97
VersaPlanetary 10:1 Gear Kit COTS Various Vex 2 Piece $14.99 $29.98
Subtotals: $344.38
Subsystem 3: Manipulator Arms
arm hex block Hex block in arm for rigidity Block 6061 McMaster Carr 2 2.463 in^3 $0.09 $0.44
bottom arm Bottom arm for manipulators 6061 2"x1" 1/8" Rect. Tubing Speedy Metals 2 18 in $0.36 $12.96
side mount for bottom motor 2 Motor mount for shoulder arm 6061 2"x1" 1/8" Rect. Tubing Speedy Metals 1 2 in $0.36 $0.72
spacer Spacer on bottom arm PLA Plastic Makerbot 6 0.002 lbs $24.00 $0.29
top arm rev1 Top arm for manipulators 6061 2"x1" 1/8" Rect. Tubing Speedy Metals 2 16 in $0.36 $11.52
top arm tip rev1 Tip of the arms 6061 1/8" Sheet Metal McMaster Carr 4 11.778 in^2 $0.13 $6.12
BAG Motor COTS Various KOP 1 Piece $24.99 $24.99
Base VersaPlanetary 1:1 with 1/2" Hex Output COTS Various Vex 2 Piece $39.99 $79.98
Subtotals: $341.89
Subsystem 4: Climbing Mechanism
0.25in churro Spaces the winch 6061 1/2" Churro Shaft AndyMark 4 0.25 in $0.17 $0.17
0.5in shaft spacer Spaces the winch PVC 3/8" ID Home Depot 2 0.5 in $0.02 $0.02
1.238in churro Spaces the winch 6061 1/2" Churro Shaft AndyMark 4 1.238 in $0.17 $0.84
3_8 Round Shaft Shaft for the bearings 6061 3/8" Round Shaft McMaster Carr 1 3 in $0.24 $0.73
3_8 Shaft Spacer 0.468 in Spaces the radial support bearings PVC 3/8" ID Home Depot 2 0.468 in $0.02 $0.01
3_8 Shaft Spacer 0.5 Spaces the radial support bearings PVC 3/8" ID Home Depot 1 0.5 in $0.02 $0.01
Bottom Mounting L-Bracket Mounts the winch to the robot 6061 L-Bar 1"x1" 1/8" McMaster Carr 1 2.5 in $0.24 $0.60
Hex Spacer .625 Spaces the wheel PVC 3/8" ID Home Depot 1 0.625 in $0.02 $0.01
Mounting Block Mounts the support for the winch Block 6061 McMaster Carr 1 1.087 in^3 $0.09 $0.10
Mounting C-Channel Mounts the winch to the robot McMaster Carr 2 5.5 in $0.56 $6.12
New Side Plate Side support plate for the shooter 6061 1/8" Sheet Metal McMaster Carr 1 26.798 in^2 $0.13 $3.48
Other New Side Plate Side support plate for the shooter 6061 1/8" Sheet Metal McMaster Carr 1 27.929 in^2 $0.13 $3.63
Bill of Materials
6061 C-Channel 1.5"x1.5" 1/8"
CAW 2016

Other Side Support 2x1 Support for the other side of the winch 6061 2"x1" 1/8" Rect. Tubing Speedy Metals 1 4.25 in $0.36 $1.53
ratchet wheel Antiback drive ratchet wheel 6061 1/4" Sheet Metal McMaster Carr 1 5.154 in^2 $0.18 $0.91
side plate Side plate for the winch 6061 1/8" Sheet Metal McMaster Carr 2 14.494 in^2 $0.13 $3.77
Spool Assembly Spool for the winch Block 6061 McMaster Carr 1 2.075 in^3 $0.09 $0.19
stop plate Antiback drive stopper 6061 1/4" Sheet Metal McMaster Carr 1 0.725 in^2 $0.18 $0.13
Tape Measure Bearing Shaft Supports the bearings of the tape roll 6061 3/8" Round Shaft McMaster Carr 2 0.25 in $0.24 $0.12
Tape Measure Guide Guides the tape measure tape PLA Plastic MakerBot 1 0.031 lbs $24.00 $0.74
TB Output Shaft Hex Long_5 Nano Tough Box outpt shaft 6061 1/2" Hex Shaft McMaster Carr 1 6.5 in $0.39 $2.52
Winch Gusset Plate Mounts the support for the winch 6061 1/8" Sheet Metal McMaster Carr 2 2.667 in^2 $0.13 $0.69
0.375" ID Radial Bearing COTS Various Vex 2 Piece $2.99 $5.98
1/4" Washer COTS Galvanized Steel McMaster Carr 1 Piece $0.01 $0.01
1/4"-20 3" Bolt COTS Galvanized Steel McMaster Carr 1 Piece $0.59 $0.59
1/4"-20 3/4" Bolt COTS Galvanized Steel McMaster Carr 17 Piece $0.09 $1.45
1/4"-20 Button Head Cap Screw COTS Stainless Steel McMaster Carr 1 Piece $0.33 $0.33
1/4"-20 NyLock Nut COTS Galvanized Steel McMaster Carr 14 Piece $0.04 $0.59
3-7/8" Traction Wheel, 1/2" Hex Mount COTS Various BaneBots 1 Piece $3.00 $3.00
3" Cotter Pin COTS Galvanized Steel Home Depot 1 Piece $0.82 $0.82
3/8" Washer COTS Galvanized Steel McMaster Carr 1 Piece $0.05 $0.05
500 E-Ring COTS Zinc McMaster Carr 1 Piece $0.18 $0.18
8-32 Button Head Cap Screw COTS Stainless Steel McMaster Carr 4 Piece $0.25 $1.00
8-32 Nylock Nut COTS Galvanized Steel McMaster Carr 4 Piece $0.06 $0.22
Base VersaPlanetery 1:1 with 1/2" Hex Output COTS Various Vex 1 Piece $39.99 $39.99
CIM Motor COTS Various AndyMark 1 Piece $28.00 $28.00
Nano Toughbox COTS Various AndyMark 1 Piece $85.00 $85.00
Pancake Piston COTS Various SMC Pneumatics 1 Piece $36.70 $36.70
Tape Measure w/ Spool and Bearings Included COTS Various TradesPro 1 Piece $12.99 $12.99
$268.99
Subsystem 5: Bumpers
Bumper Front Support Support the Bumper Mounting 5052 1/8" Sheet Metal SpeedyMetals 2 37.08 in^2 $0.12 $8.90
Front bumper backboard L Bumper Backing 3/4" Plywood Home Depot 2 43.69 in^2 $0.01 $0.87
LeftBumperBackboard Bumper Backing 3/4" Plywood Home Depot 1 165 in^2 $0.01 $1.65
rear bumper L-bar Bumper Mounting 6061 1" L-Bar Home Depot 2 1 in $0.27 $0.54
RearBumperBackboard Bumper Backing 3/4" Plywood Home Depot 1 140.63 in^2 $0.01 $1.41
RightBumperBackboard Bumper Backing 3/4" Plywood Home Depot 1 165 in^2 $0.01 $1.65
side bumper LBar 2 Bumper Mounting 6061 1" L-Bar Home Depot 2 24.5 in $0.27 $13.23
Clevis Pin COTS Stainless Steel Home Depot 18 Piece $2.17 $39.06
Cotter Pin COTS Galvanized Steel Home Depot 18 Piece $0.58 $10.44
$28.25
Subsystem 6: Controls
12V Festo Double Solenoid Controls Various AndyMark 2 Piece $119.00 $238.00
30A Circuit Breaker Controls Various KOP 2 Piece $6.00 $12.00
30A Circuit Breaker Controls Various AndyMark 1 Piece $6.00 $6.00
40A Circuit Breaker Controls Various KOP 6 Piece $7.00 $42.00
Bill of Materials
CAW 2016

40A Circuit Breaker Controls Various AndyMark 2 Piece $7.00 $14.00
Air Compressor 12V Controls Various AndyMark 1 Piece $69.00 $69.00
Air Tank Controls Various AndyMark 2 Piece $16.00 $32.00
Main Circuit Breaker Controls Various KOP 1 Piece $30.00 $30.00
NI RoboRIO Controls Various KOP 1 Piece $435.00 $435.00
PCM Controls Various AndyMark 1 Piece $90.00 $90.00
PDP Controls Various AndyMark 1 Piece $200.00 $200.00
Robot Radio (D-Link) Controls Various KOP 1 Piece $135.00 $135.00
Robot Signal Light Controls Various KOP 1 Piece $118.00 $118.00
SRX Controls Various AndyMark 11 Piece $90.00 $990.00
VRM Controls Various AndyMark 1 Piece $46.00 $46.00
$1,685.00
Subsystem Total
Chassis $916.55
$344.38
Manipulator Arms $341.89
$268.99
Controls $1,685.00
Bumpers $28.25
Grand Total: $3,585.06
Grander Total $4,899.69
Bill of Materials
Ball Manipulator/Kicker
Climbing Mechanism
CAW 2016

Cost Accountability Worksheet 2016

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