Public BOM audited. This is a source-bound system evidence record, not an independent rebuild.
Mobile manipulator · AlohaMini project / Yi-Teng Li and Wu Zhiyong
AlohaMini1 mobile manipulator
Nested Markdown tables · commit-addressable.
No complete rebuild evidence package found.
The robot name is not the version boundary.
RCI preserves the exact source surface and revision conditions instead of applying one prototype or current product page to every unit.
Platform boundary
AlohaMini1 mobile manipulator
AlohaMini1 mobile base, optional standalone compute, two follower arms and two leader arms at AlohaMini commit 17c6a98d79881a45ab869c1f392ed89c0723a298; the host/client architecture and optional rows remain explicit.
Version state
Addressable source snapshot
The selected BOM is commit-addressable but not bound to a numbered release tag, purchase lot or one serialised AlohaMini1 build.
Lifecycle boundary
Changes remain attached to the source.
The project identifies AlohaMini2 as a generational successor; AlohaMini1 rows are retained as their own boundary and are not overwritten by AlohaMini2 substitutions.
Responsibility party
AlohaMini project / Yi-Teng Li and Wu Zhiyong
RCI maps the named public responsibility party; inclusion does not imply endorsement, partnership or unit-level verification.
No structured lifecycle relation selected yet.
Replacement, upgrade, EOL and regional procurement signals remain separate from current availability and as-built identity.
No positive lifecycle claim.
Absence here means the selected source set does not yet support one, not that the platform has no revisions or supply risk.
Strongest supported conclusion
A quantified multi-subsystem list joining mobile base, compute option, dual follower arms and dual leader arms with regional links and printable-file directories.
Largest rebuild gap: Optional compute and test-only controller rows are mixed into the publication surface, printed parts remain aggregates, and no independent end-to-end mobile-manipulation build is recorded.
Editorial boundary: The record distinguishes installed, optional and test-only rows. Source pricing, retailer availability, payload and two-hour assembly claims are not independently verified here.
Twelve gates separate a parts list from a rebuild package.
Partial means a source contains useful material but does not close the exact revision, quantity, part identity or unit-level boundary.
| Evidence dimension | State | What the state means here |
|---|---|---|
| Exact platform revision | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Versioned BOM snapshot | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Line-item quantities | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Manufacturer part numbers | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Supplier links | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Custom-part production files | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Electrical interconnect definition | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Software / firmware binding | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| License boundary | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Change, EOL and substitution history | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Unit-level as-built manifest | Not published | The selected sources do not publish this evidence dimension. |
| Independent rebuild evidence | Not published | The selected sources do not publish this evidence dimension. |
AlohaMini1/docs/BOM.md four build tables
The count below preserves the responsibility party's publication structure; it is not silently flattened into unique purchasable components.
Selected count
35 rows / list items
Nineteen mobile-base rows, three optional standalone rows, seven follower-arm rows and six leader-arm rows. Common tools are explicitly omitted by the source.
Format
Nested Markdown tables
RCI did not treat the publication format as a normalized database table.
Next evidence gate
Normalize without inventing.
Resolve exact part identity, quantity scope, placement, revision and substitution state while retaining nested assemblies, alternatives and generic groups as explicit boundaries.
As-built state
Not published
A public list does not establish what one serialised unit actually contained.
1 manufacturer identities resolved from selected BOM rows.
These are responsibility-party BOM mentions, not partnership, endorsement, verified supply or exact-component equivalence.
BOM → manufacturer
Raspberry Pi
4 normalized source rows · 3 marked as installed/build items.
Exact component links: 0. No current RCI exact-component record matches these published BOM model identities exactly; manufacturer linkage is not promoted to component-level equivalence.
BOM → exact component
Raspberry Pi 5
The pinned AlohaMini1 table names one Raspberry Pi 5 with at least 2 GB RAM inside Standalone Mode (Optional). The relation preserves that optional configuration and does not treat it as simultaneously installed base hardware.
Published quantity: 1. One unit is published only within the optional standalone-mode boundary; PCB revision and selected RAM capacity above the minimum are not published.
Boundary: This family-level identity relation does not establish a PCB revision, default installation, power/cooling sufficiency, software compatibility, endorsement or physical validation.
7 bounded nodes and 8 source-supported interface relations.
RCI publishes a connection only when the selected responsibility-party source explicitly supports the endpoints or architecture. A BOM co-occurrence, component capability or engineering convention is not enough.
assembly node
Client mobile base
AlohaMini1 client-side mobile base at the selected commit.
Identity boundary: This node groups source-declared mobile-base rows; it is not a serialised as-built assembly.
Source rows: alohamini1-1, alohamini1-2, alohamini1-3, alohamini1-15, alohamini1-16
compute node
Optional Raspberry Pi 5 client compute
Standalone Mode (Optional), one Raspberry Pi 5 with at least 2 GB RAM.
Identity boundary: Optional family-level Pi 5 identity; exact RAM above the minimum and PCB revision are not published.
Source rows: alohamini1-20, alohamini1-21
assembly node
Two client-side follower arms
Two follower arms, their two bus-servo controllers and two Pi-facing USB Type-C cables.
Identity boundary: The source publishes aggregate quantities for two arms; controller hardware revision and cable electrical ratings remain unpublished.
Source rows: alohamini1-23, alohamini1-24, alohamini1-26, alohamini1-27, alohamini1-28
external-host node
External PC workstation host
Host-side PC workstation described by the project architecture, outside the selected purchasable BOM rows.
Identity boundary: No exact workstation model, operating-system image or interface inventory is published in the selected BOM.
Source rows: Architecture text only; no BOM row.
assembly node
Two host-side leader arms
Two leader arms with two PC-facing bus-servo controllers and two USB Type-C cables.
Identity boundary: The project publishes the simplified 7.4 V 1/147 servo configuration; physical controller revisions and cable ratings are not published.
Source rows: alohamini1-30, alohamini1-31, alohamini1-33, alohamini1-34
power node
Two-pack 12 V client power allocation
Two 12 V Li-ion packs: one allocated to Pi 5 and one to mobile base plus follower arms.
Identity boundary: The source publishes voltage and connector family but not exact battery SKU, capacity, protection circuit, polarity verification or serials.
Source rows: alohamini1-16, alohamini1-21, alohamini1-26, alohamini1-27
power node
5 V host-arm battery branch
One 5 V 5,600 mAh Li-ion pack and one 1-to-2 splitter for the two leader arms.
Identity boundary: Exact battery SKU, protection circuit, connector polarity and measured output remain unpublished.
Source rows: alohamini1-32, alohamini1-33
| From → to | Relation | Published support | Still unresolved |
|---|---|---|---|
| External PC workstation host → Optional Raspberry Pi 5 client computebidirectional | software-roleHost/client command-and-observation architecture; transport not published | The project defines the client as the computation/control side and the host as the command-execution/observation side, then places the PC and leader arms on the host side. The optional Pi 5 is the only client compute row in this BOM.liyiteng/AlohaMini commit 17c6a98d79881a45ab869c1f392ed89c0723a298 | The selected source does not freeze network transport, message schema, software commit, latency or workstation identity. The Pi 5 is optional rather than base-installed hardware.Physical validation: none. |
| Optional Raspberry Pi 5 client compute → Client mobile basebidirectional | data-controlProject-described bus-servo communication system | The architecture text states that the mobile base, arms and Raspberry Pi 5 use the same bus-servo communication system.liyiteng/AlohaMini commit 17c6a98d79881a45ab869c1f392ed89c0723a298 | The exact adapter, connector path, bus electrical layer, baud rate, termination and wiring order are not frozen in the selected BOM. No powered integration test has been run by RCI.Physical validation: none. |
| Optional Raspberry Pi 5 client compute → Two client-side follower armsbidirectional | data-controlTwo Pi-facing USB Type-C cables to two bus-servo controllers | The follower-arm table publishes two Waveshare bus-servo controllers and two USB Type-C cables, both explicitly described as connecting to the Raspberry Pi 5.liyiteng/AlohaMini commit 17c6a98d79881a45ab869c1f392ed89c0723a298 | Controller model/revision, cable connector pairing, USB generation, device enumeration and servo-bus wiring are not published. RCI has not validated simultaneous operation of both arms.Physical validation: none. |
| External PC workstation host → Two host-side leader armsbidirectional | data-controlTwo PC-facing USB Type-C cables to two bus-servo controllers | The leader-arm table publishes two Waveshare bus-servo controllers and two USB Type-C cables, both explicitly described as connecting to the PC.liyiteng/AlohaMini commit 17c6a98d79881a45ab869c1f392ed89c0723a298 | Controller revision, cable connector pairing, USB generation, host ports, drivers and device mapping are not published. RCI has not validated both leader arms against one workstation.Physical validation: none. |
| Two-pack 12 V client power allocation → Optional Raspberry Pi 5 client computesource-to-target | power12 V battery allocation through optional 12 V-to-5 V / 5 A converter | The mobile-base table allocates one of two 12 V packs to Raspberry Pi 5, while the optional standalone table publishes one 12 V-to-5 V / 5 A converter.liyiteng/AlohaMini commit 17c6a98d79881a45ab869c1f392ed89c0723a298 | Converter SKU, efficiency, transient response, USB-C power-delivery behavior, fuse, wire gauge and measured Pi input voltage are not published. The Pi branch exists only in optional standalone mode.Physical validation: none. |
| Two-pack 12 V client power allocation → Client mobile basesource-to-target | powerSecond 12 V battery pack allocated to the mobile-base/follower-arm branch | The source allocates the other 12 V pack to the mobile base and follower arms.liyiteng/AlohaMini commit 17c6a98d79881a45ab869c1f392ed89c0723a298 | Distribution topology, protection, connector polarity, current split, fuse, wire gauge and peak-load margin are not published. RCI has not measured the branch under motion or lift load.Physical validation: none. |
| Two-pack 12 V client power allocation → Two client-side follower armssource-to-target | power12 V branch via one 1-to-2 DC splitter and two extension cables | The source allocates one 12 V pack to the mobile base and follower arms and publishes one 1-to-2 splitter plus two 1.5 m extension cables for powering the arms.liyiteng/AlohaMini commit 17c6a98d79881a45ab869c1f392ed89c0723a298 | Exact split point, current rating, polarity, voltage drop, connector mating and simultaneous twelve-servo load margin are not published. RCI has not instrumented this power path.Physical validation: none. |
| 5 V host-arm battery branch → Two host-side leader armssource-to-target | power5 V battery through one 1-to-2 splitter to two leader arms | The leader-arm table publishes one 5 V Li-ion pack and one 1-to-2 DC splitter described as powering the arms.liyiteng/AlohaMini commit 17c6a98d79881a45ab869c1f392ed89c0723a298 | Per-arm current, splitter rating, connector polarity, protection, voltage drop and simultaneous twelve-servo behavior are not published. RCI has not tested this branch.Physical validation: none. |
35 source items converted into claim-bounded records.
Identity, quantity and installed-hardware boundaries remain separate fields; a generic source label is never promoted to an exact orderable model.
| Source item | Class | Identity | Quantity boundary | Role + unresolved evidence |
|---|---|---|---|---|
| Servo motorMobile base | actuationInstalled / build item | variant-namedFeetech · Feetech / 12V 1/345 Gear(STS3215-C018) | 4 unit4 units published within the selected Mobile base configuration boundary. | Mobile base build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| Omni wheelMobile base | mechanical-hardwareInstalled / build item | variant-named4″ (≈100 mm) | 3 unit3 units published within the selected Mobile base configuration boundary. | Mobile base build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| USB cameraMobile base | sensorInstalled / build item | variant-named720p focal length 2.4 mm, 36×36 mm form factor | 3 unit3 units published within the selected Mobile base configuration boundary. | Mobile base build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| (optional) BearingMobile base | bearingAlternative / not simultaneously installed | variant-named12×18×4 mm (ID × OD × W) — wheel axle bearing | 3 unit3 units published within the selected Mobile base configuration boundary. | Mobile base build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. This row is optional or test-only and is not treated as simultaneously installed base hardware. |
| BearingMobile base | bearingInstalled / build item | variant-named4×13×5 mm (ID × OD × W) — lift axis bearing | 8 unit8 units published within the selected Mobile base configuration boundary. | Mobile base build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| M2×12 Phillips screwMobile base | sensorInstalled / build item | variant-namedFor camera mounts (OBTCameraMount.stl, OBTopCameraMount) | 12 unit12 units published within the selected Mobile base configuration boundary. | Mobile base build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| M3×12 hex socket screwMobile base | actuationInstalled / build item | variant-namedTotal 36 pcs (Servo Mount×24 ,Side Panel×12 ) | 36 unit36 units published within the selected Mobile base configuration boundary. | Mobile base build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| M3×18 hex socket screwMobile base | cableInstalled / build item | variant-namedFor OBChassisWheelAxleConnector.stl | 12 unit12 units published within the selected Mobile base configuration boundary. | Mobile base build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| M3×30 hex socket screwMobile base | cableInstalled / build item | variant-namedFor OBTConnectorRight/Left.stl | 8 unit8 units published within the selected Mobile base configuration boundary. | Mobile base build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| M3 hex nutMobile base | cableInstalled / build item | variant-namedFor OBTConnectorRight/Left.stl | 8 unit8 units published within the selected Mobile base configuration boundary. | Mobile base build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| M3x5x4 heat-set insertMobile base | actuationInstalled / build item | variant-namedTotal 36 pcs (Servo Mount×24, Side Panel×12) | 36 unit36 units published within the selected Mobile base configuration boundary. | Mobile base build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| M4×12 hex socket screwMobile base | actuationInstalled / build item | variant-namedTotal 20 pcs (Bearing Cover×12, Z-axis Servo Mount×8) | 20 unit20 units published within the selected Mobile base configuration boundary. | Mobile base build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| M4x6x5 heat-set insertMobile base | bearingInstalled / build item | variant-namedFor OBChassisBearingCover.stl | 12 unit12 units published within the selected Mobile base configuration boundary. | Mobile base build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| AdhesiveMobile base | cableInstalled / build item | variant-namedEpoxy (strongly recommended) / double-sided tape — cable retention & structural bonding | 1 unit1 unit published within the selected Mobile base configuration boundary. | Mobile base build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| Servo extension cableMobile base | actuationInstalled / build item | variant-namedSCS 3-pin, 90 cm | 2 unit2 units published within the selected Mobile base configuration boundary. | Mobile base build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| BatteryMobile base | computeInstalled / build item | variant-namedRaspberry Pi · 12 V Li-ion pack with 5521 barrel jack (male & female); one pack for the Raspberry Pi 5, the other for the mobile base and follower arms. | 2 unit2 units published within the selected Mobile base configuration boundary. | Mobile base build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| USB Type-C cableMobile base | cableAlternative / not simultaneously installed | variant-namedOnly for testing the mobile base | 1 unit1 unit published within the selected Mobile base configuration boundary. | Mobile base build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. This row is optional or test-only and is not treated as simultaneously installed base hardware. |
| Waveshare Bus Servo ControllerMobile base | actuationAlternative / not simultaneously installed | variant-namedWaveshare · Only for testing the mobile base | 1 unit1 unit published within the selected Mobile base configuration boundary. | Mobile base build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. This row is optional or test-only and is not treated as simultaneously installed base hardware. |
| 3D-printed partsMobile base | custom-mechanicalInstalled / build item | file-identifiedPLA/PETG/ABS (files in /hardware/mobilebase/stl) · ~4 kg filament | 4 bundleThe source publishes “~4 kg filament”; RCI preserves this as an aggregate purchase/material boundary rather than an installed-unit count. | Mobile base build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. Bundle/material quantity is not a flattened installed-part count. |
| Compute boardStandalone Mode (Optional) | computeAlternative / not simultaneously installed | variant-namedRaspberry Pi · Raspberry Pi 5 (≥ 2GB RAM) | 1 unit1 unit published within the selected Standalone Mode (Optional) configuration boundary. | Standalone Mode (Optional) build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. This row is optional or test-only and is not treated as simultaneously installed base hardware. |
| DC converterStandalone Mode (Optional) | powerAlternative / not simultaneously installed | variant-named12V → 5V / 5A buck converter | 1 unit1 unit published within the selected Standalone Mode (Optional) configuration boundary. | Standalone Mode (Optional) build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. This row is optional or test-only and is not treated as simultaneously installed base hardware. |
| MonitorStandalone Mode (Optional) | powerAlternative / not simultaneously installed | variant-named7-inch HD IPS HDMI interface + touch + Type C power supply | 1 unit1 unit published within the selected Standalone Mode (Optional) configuration boundary. | Standalone Mode (Optional) build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. This row is optional or test-only and is not treated as simultaneously installed base hardware. |
| Servo motorFollower Arms | actuationInstalled / build item | variant-namedFeetech · Feetech / 12V 1/345 Gear(STS3215-C018) | 12 unit12 units published within the selected Follower Arms configuration boundary. | Follower Arms build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| Waveshare Bus Servo ControllerFollower Arms | actuationInstalled / build item | variant-namedRaspberry Pi · For connecting to the Raspberry Pi 5 | 2 unit2 units published within the selected Follower Arms configuration boundary. | Follower Arms build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| USB cameraFollower Arms | sensorInstalled / build item | variant-named720p focal length 3.8 mm, 32×32 mm form factor | 2 unit2 units published within the selected Follower Arms configuration boundary. | Follower Arms build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| 1-to-2 DC splitter cableFollower Arms | powerInstalled / build item | variant-named30 cm, 5521 connector — for powering the arms | 1 unit1 unit published within the selected Follower Arms configuration boundary. | Follower Arms build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| DC extension cableFollower Arms | powerInstalled / build item | variant-named1.5 m, 5521 connector — for powering the arms | 2 unit2 units published within the selected Follower Arms configuration boundary. | Follower Arms build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| USB Type-C cableFollower Arms | computeInstalled / build item | variant-namedRaspberry Pi · For connecting to the Raspberry Pi 5 | 2 unit2 units published within the selected Follower Arms configuration boundary. | Follower Arms build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| 3D-printed partsFollower Arms | custom-mechanicalInstalled / build item | file-identifiedPLA/PETG/ABS (files in /hardware/arms/stl) · 1 set | 1 bundleThe source publishes “1 set”; RCI preserves this as an aggregate purchase/material boundary rather than an installed-unit count. | Follower Arms build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. Bundle/material quantity is not a flattened installed-part count. |
| Servo motorLeader Arms | actuationInstalled / build item | variant-namedFeetech · Feetech / 7.4V 1/147 Gear(STS3215-C046) | 12 unit12 units published within the selected Leader Arms configuration boundary. | Leader Arms build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| Waveshare Bus Servo ControllerLeader Arms | actuationInstalled / build item | variant-namedWaveshare · For connecting to the PC | 2 unit2 units published within the selected Leader Arms configuration boundary. | Leader Arms build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| BatteryLeader Arms | powerInstalled / build item | variant-named5V Li-ion pack (5600mAh, DC 5521 connector) | 1 unit1 unit published within the selected Leader Arms configuration boundary. | Leader Arms build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| 1-to-2 DC splitter cableLeader Arms | powerInstalled / build item | variant-named70 cm — for powering the arms | 1 unit1 unit published within the selected Leader Arms configuration boundary. | Leader Arms build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| USB Type-C cableLeader Arms | cableInstalled / build item | variant-namedFor connecting to the PC | 2 unit2 units published within the selected Leader Arms configuration boundary. | Leader Arms build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. |
| 3D-printed partsLeader Arms | custom-mechanicalInstalled / build item | file-identifiedPLA/PETG/ABS (files in /hardware/arms/stl) · 1 set | 1 bundleThe source publishes “1 set”; RCI preserves this as an aggregate purchase/material boundary rather than an installed-unit count. | Leader Arms build itemNo serialised as-built manifest or independent RCI full-system rebuild confirms this row. Bundle/material quantity is not a flattened installed-part count. |
Every conclusion returns to a selected source.
Links point to the responsibility party's material. RCI does not republish third-party BOM rows, CAD or retailer content through this profile.
AlohaMini1 bill of materials ↗
Mobile base, standalone option, follower arms and leader arms
Commit 17c6a98AlohaMini repository ↗
AlohaMini1/AlohaMini2 architecture, hardware and software boundary
Commit 17c6a98 · Apache-2.0Correction path
Know a newer revision or an exact as-built record?
Corrections must identify the platform revision, source location and the exact field affected. Manufacturer or project-party clarification is displayed alongside independently sourced evidence without replacing the original boundary.
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