Public BOM audited. This is a source-bound system evidence record, not an independent rebuild.
Mobile manipulator · SIGRobotics UIUC LeKiwi project
LeKiwi 5 V 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
LeKiwi 5 V mobile manipulator
Shared structure, sensor/compute and other rows plus only the 5 V base and 5 V SO-101 arm rows at LeKiwi commit efa608d7ee5a495a4803b1d28cd0c955b4f1e033.
Version state
Addressable source snapshot
The BOM is commit-addressable but not tied to a release tag, receipts or a physical unit.
Lifecycle boundary
Changes remain attached to the source.
The source publishes mutually exclusive 5 V, 12 V and wired paths. This record selects 5 V only.
Responsibility party
SIGRobotics UIUC LeKiwi project
RCI maps the named public responsibility party; inclusion does not imply endorsement, partnership or unit-level verification.
1 bounded lifecycle or procurement relations.
Replacement, upgrade, EOL and regional procurement signals remain separate from current availability and as-built identity.
standard-configuration-change
LeKiwi 5 V configuration → LeKiwi 12 V configuration
The official BOM presents 5 V and 12 V as alternatives and directs first-time builders to 5 V while describing 12 V as the higher-lift path.
System impact: Base servos, battery/power conversion and two-arm power/actuator rows change; the paths must not be merged as simultaneously installed.
Open: No unit-level validation quantifies the performance difference within this RCI record.
Strongest supported conclusion
A quantified 5 V system path spanning structure, Raspberry Pi compute, cameras, base servos, power bank and a two-arm teleoperation set.
Largest rebuild gap: Generic bundles, mutable retail links and absent unit-level wiring/serial evidence prevent a complete build conclusion.
Editorial boundary: This is an RCI configuration normalization of responsibility-party rows, not a price guarantee, electrical certification or independent build.
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 | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| 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. |
LeKiwi BOM 5 V configuration
The count below preserves the responsibility party's publication structure; it is not silently flattened into unique purchasable components.
Selected count
15 rows / list items
Eight shared rows plus four 5 V base rows and three 5 V arm-set rows. Summary/price rows are excluded.
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.
No manufacturer identity is safely linked from the selected rows.
These are responsibility-party BOM mentions, not partnership, endorsement, verified supply or exact-component equivalence.
Generic or unregistered identities remain unlinked.
RCI will add a relationship only after the source publishes a manufacturer identity that maps unambiguously to the directory.
BOM → exact component
Raspberry Pi 5
The pinned LeKiwi 5 V configuration publishes one Raspberry Pi 5 with 4 GB RAM. RCI maps it to the family record without inferring a PCB revision.
Published quantity: 1. One board is published for the selected 5 V configuration. No serial, receipt, lot, PCB revision or as-built inspection is available.
Boundary: The relation does not prove power or cooling sufficiency, software/peripheral compatibility, current availability, endorsement or an RCI robot test.
5 bounded nodes and 5 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.
compute node
Raspberry Pi 5 (4 GB) onboard compute
One Raspberry Pi 5 (4 GB) in the selected LeKiwi 5 V configuration.
Identity boundary: The source fixes family, RAM option and quantity but not PCB revision, serial, storage image, software checkout or observed ports.
Source rows: lekiwi-5v-item-03
control node
Two optional-SKU USB camera positions
Two generic USB camera BOM rows with responsibility-party mounting instructions for either listed camera option.
Identity boundary: The configuration does not select one camera SKU, sensor, lens, USB descriptor, calibration or base/wrist serial mapping.
Source rows: lekiwi-5v-item-04, lekiwi-5v-item-08
control node
Assembly-described mobile-base servo controller
The pinned assembly mounts one servo driver for the three drive servos and connects its USB cable to Raspberry Pi 5.
Identity boundary: The selected 5 V BOM does not isolate an exact base-controller SKU; the two published motor-control-board rows belong to the separate two-arm set.
Source rows: Architecture text only; no BOM row.
actuation node
Three 5 V-configuration STS3215 drive servos
Three STS3215 rows in the selected 5 V mobile-base table.
Identity boundary: The BOM does not freeze exact voltage/reduction suffix, serials, IDs, offsets, chain order or installed condition.
Source rows: lekiwi-5v-item-10
power node
20,000 mAh / 85 W power-bank branch
One power bank published for the 5 V configuration and mounted on the lower plate by the pinned assembly.
Identity boundary: Retail identity is mutable; output profile, port selection, USB-C/DC cable behavior, protection, capacity under load and measured rails are not frozen.
Source rows: lekiwi-5v-item-09, lekiwi-5v-item-11, lekiwi-5v-item-12
| From → to | Relation | Published support | Still unresolved |
|---|---|---|---|
| Raspberry Pi 5 (4 GB) onboard compute → Two optional-SKU USB camera positionsbidirectional | data-controlTwo camera USB cables connected directly to Raspberry Pi 5 | The pinned final assembly says camera USB cables can plug directly into Raspberry Pi 5; the 5 V BOM publishes one Pi, two cameras and a two-cable bundle.SIGRobotics-UIUC/LeKiwi commit efa608d7ee5a495a4803b1d28cd0c955b4f1e033 | Camera choice, USB port allocation, descriptor, bandwidth, calibration and concurrent capture are not frozen. RCI has not enumerated or streamed these cameras.Physical validation: none. |
| Raspberry Pi 5 (4 GB) onboard compute → Assembly-described mobile-base servo controllerbidirectional | data-controlBase servo-controller USB cable connected directly to Raspberry Pi 5 | The pinned assembly mounts a servo driver, routes its USB-C-to-USB-A cable and says the controller USB cable can connect directly to Raspberry Pi 5.SIGRobotics-UIUC/LeKiwi commit efa608d7ee5a495a4803b1d28cd0c955b4f1e033 | The base-controller SKU is absent from the selected BOM and must not be conflated with either arm-set board. USB descriptor, serial path, baud, protocol and observed enumeration are unknown.Physical validation: none. |
| Assembly-described mobile-base servo controller → Three 5 V-configuration STS3215 drive servosbidirectional | data-controlServo-driver wires attached to three 5 V-configuration drive servos | The bottom-plate assembly explicitly attaches driver wires to three drive servos; the selected 5 V table publishes three STS3215 units.SIGRobotics-UIUC/LeKiwi commit efa608d7ee5a495a4803b1d28cd0c955b4f1e033 | Voltage/reduction suffix, IDs, chain order, controller identity, wheel mapping and calibration are not frozen. RCI has not scanned the bus or moved a wheel.Physical validation: none. |
| 20,000 mAh / 85 W power-bank branch → Raspberry Pi 5 (4 GB) onboard computesource-to-target | power5 V USB-C power branch to Raspberry Pi 5 | The 5 V assembly mounts the published power bank and routes a 5 V USB-C cable; final assembly connects the 5 V USB-C connector to Raspberry Pi 5.SIGRobotics-UIUC/LeKiwi commit efa608d7ee5a495a4803b1d28cd0c955b4f1e033 | The source does not freeze power-bank port/profile, cable, simultaneous-load allocation, protection or loaded Pi voltage. RCI has not instrumented this branch.Physical validation: none. |
| 20,000 mAh / 85 W power-bank branch → Assembly-described mobile-base servo controllersource-to-target | powerUSB-C-to-DC branch to the mobile-base servo controller | The selected 5 V table publishes one power bank and one USB-C-to-DC cable; final assembly powers the servo motor controller through its DC barrel input.SIGRobotics-UIUC/LeKiwi commit efa608d7ee5a495a4803b1d28cd0c955b4f1e033 | Output trigger/profile, barrel dimensions, polarity, controller voltage tolerance, shared-ground topology, current margin and fault protection are not frozen. RCI has not energized the controller.Physical validation: none. |
15 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 |
|---|---|---|---|---|
| 4-inch omni wheelsShared rows plus 5 V configuration tables | mechanical-hardwareInstalled / build item | generic-descriptionNo exact identity published | 3 unitThree wheels are published in the selected configuration. | Holonomic mobile-base contactNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| M2/M3/M4 assorted screw setShared rows plus 5 V configuration tables | fastenerInstalled / build item | generic-descriptionNo exact identity published | 1 bundleOne assortment is published; individual installed fastener counts are not enumerated. | Assembly fastenersNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| Raspberry Pi 5 (4 GB)Shared rows plus 5 V configuration tables | computeInstalled / build item | variant-namedRaspberry Pi 5 4 GB | 1 unitOne board is published. | On-robot computeNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| USB cameraShared rows plus 5 V configuration tables | sensorInstalled / build item | generic-descriptionNo exact identity published | 2 unitTwo generic USB cameras are published. | Robot visual sensingNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| microSD cardShared rows plus 5 V configuration tables | storageInstalled / build item | generic-descriptionNo exact identity published | 1 unitOne card is published without fixed capacity/model identity. | System storageNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| Table clamp 4 pcsShared rows plus 5 V configuration tables | fixtureInstalled / build item | generic-descriptionNo exact identity published | 1 bundleOne four-clamp bundle is published. | Teleoperation fixtureNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| Screwdriver setShared rows plus 5 V configuration tables | toolInstalled / build item | generic-descriptionNo exact identity published | 1 unitOne set is published and is not installed robot hardware. | Assembly toolingNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| USB-C to USB-A cable 2 pcsShared rows plus 5 V configuration tables | cableInstalled / build item | generic-descriptionNo exact identity published | 1 bundleOne two-cable bundle is published. | Controller/host connectionNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| 20000 mAh 85 W power bankShared rows plus 5 V configuration tables | powerInstalled / build item | generic-descriptionNo exact identity published | 1 unitOne power bank is published. | 5 V configuration energy sourceNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| STS3215 servo — baseShared rows plus 5 V configuration tables | actuationInstalled / build item | variant-namedSTS3215 | 3 unitThree servos are published in the 5 V base table. | Mobile-base wheel actuationNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| USB-C cable 2 pcsShared rows plus 5 V configuration tables | cableInstalled / build item | generic-descriptionNo exact identity published | 1 bundleOne two-cable bundle is published. | 5 V base power/data cable bundleNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| USB-C to DC cableShared rows plus 5 V configuration tables | cableInstalled / build item | generic-descriptionNo exact identity published | 1 unitOne cable is published. | Power conversion interconnectNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| STS3215 servo — two-arm setShared rows plus 5 V configuration tables | actuationInstalled / build item | variant-namedSTS3215 | 12 unitTwelve servos are published for the two-arm 5 V teleoperation set. | Leader/follower arm actuationNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| Motor control boardShared rows plus 5 V configuration tables | controlInstalled / build item | generic-descriptionNo exact identity published | 2 unitTwo boards are published. | Two-arm servo controlNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| 5 V power supplyShared rows plus 5 V configuration tables | powerInstalled / build item | generic-descriptionNo exact identity published | 1 unitOne supply is published. | Two-arm external supplyNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
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.
LeKiwi bill of materials ↗
Shared rows and 5 V sections
Commit efa608d · selected 5 V pathCorrection 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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