Public BOM audited. This is a source-bound system evidence record, not an independent rebuild.
Mobile base · OpenAMRobot
OpenAMR multipurpose mobile platform
Markdown table · 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
OpenAMR multipurpose mobile platform
Electrical/electronic component-identification table at openamr-platform-hw commit 3f5bfde6608bc043752225966db80461222669ff; the separately published preliminary BOM and mechanical workbook remain outside this selected 11-row identity surface.
Version state
Addressable source snapshot
The selected table is commit-addressable and dated, but it is not a numbered platform release or an as-built unit snapshot.
Lifecycle boundary
Changes remain attached to the source.
The file records label confirmations, superseded motor-ratio interpretation, corrected wheel geometry and outstanding identification tasks; those revisions remain source claims rather than RCI physical measurements.
Responsibility party
OpenAMRobot
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
Eleven component identities derived by the project from physical labels and datasheets, with configuration notes, unresolved status flags and cross-links to wiring, sizing and mechanical evidence.
Largest rebuild gap: The selected surface excludes the full mechanical workbook and does not publish one frozen, flattened, unit-level system BOM or independent rebuild.
Responsibility-source conflict: The project records that the camera board silkscreen says MPU-6050 while the identified chip is MPU-6500; RCI retains the discrepancy as a project-published identity boundary.
Editorial boundary: Project label-reading and measurements are responsibility-party evidence. RCI has not inspected the physical OpenAMR, and generic or unresolved rows remain generic or unresolved.
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 | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Versioned BOM snapshot | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Line-item quantities | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Manufacturer part numbers | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Supplier links | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| 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 | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| 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. |
Components — Bill of Materials & datasheets exact-identification table
The count below preserves the responsibility party's publication structure; it is not silently flattened into unique purchasable components.
Selected count
11 rows / list items
Eleven numbered electrical/electronic rows. Quantities embedded in row labels are retained; alternative batteries and three unresolved labels are not promoted to exact orderable identities.
Format
Markdown table
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
2 normalized source rows · 2 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 Model B Rev 1.1
The pinned OpenAMR responsibility-party component table identifies one Raspberry Pi 5 Model B Rev 1.1 and separately records the 8 GB configuration. The RCI component record preserves that revision-bounded identity while using Raspberry Pi’s official product page only for family-level specifications.
Published quantity: 1. One unit is published for the selected OpenAMR source boundary. RCI did not read a physical revision code, serial number, memory marking or as-built manifest.
Boundary: This relation does not generalize to every Raspberry Pi 5 board revision or RAM option and does not prove power sufficiency, thermal behavior, software compatibility, current supply, endorsement or an RCI robot test.
BOM → exact component
PJRC Teensy 4.0
The pinned OpenAMR component table identifies one Teensy 4.0 and its NXP i.MX RT1062 processor. RCI separately represents the exact PJRC board; the processor is not promoted as a second installed board.
Published quantity: 1. One source-table unit is published. RCI did not inspect the board, processor marking, carrier wiring or flashed firmware.
Boundary: This is a public component-table identity relation, not proof of serial identity, firmware, electrical integration, real-time performance, endorsement or an RCI robot test.
BOM → exact component
ams OSRAM AS5040
The pinned OpenAMR table identifies two AS5040 magnetic encoders. The RCI record represents the exact encoder IC while keeping magnet, PCB and mechanical stack outside that identity.
Published quantity: 2. Two source-table units are published; no serials, PCB assemblies, magnet identities or calibration records were inspected.
Boundary: The crosswalk does not establish mounted accuracy, wheel-odometry performance, current supply, endorsement or an RCI physical test.
BOM → exact component
TDK InvenSense MPU-6500
The pinned OpenAMR table names MPU-6500 as the installed chip identity. RCI preserves the same source’s conflicting MPU-6050 board-silkscreen observation instead of silently resolving it.
Published quantity: 1. One source-table unit is published; no physical board, package marking, serial or calibration record was inspected.
Boundary: This relation proves the source’s exact chip assertion and exposes its board-label conflict. It does not prove the assertion physically, calibration, navigation performance, endorsement or RCI validation.
BOM → exact component
Raspberry Pi Camera Module 3 NoIR
The pinned OpenAMR table identifies one standard-field-of-view Camera Module 3 NoIR and the Sony IMX708 sensor. RCI keeps NoIR separate from IR-filtered and wide-angle variants.
Published quantity: 1. One source-table unit is published; no serial, cable, focus position, calibration file or mounting transform was inspected.
Boundary: The crosswalk does not prove host compatibility, calibrated perception, infrared response, current supply, endorsement or an RCI robot test.
7 bounded nodes and 7 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 Model B Rev 1.1 (8 GB)
One confirmed Raspberry Pi 5 Model B Rev 1.1 with 8 GB RAM in the selected OpenAMR component record.
Identity boundary: The board family, revision and RAM are published; serial, storage medium, operating-system image, ROS 2 workspace and physical USB-port allocation are not frozen.
Source rows: openamr-platform-pi5
control node
PJRC Teensy 4.0 real-time controller
One exact Teensy 4.0 with published motor, encoder, IMU and micro-ROS pin assignments.
Identity boundary: The board model and pin map are published; serial, bootloader, firmware hash, calibration state and one as-built board are not bound to RCI evidence.
Source rows: openamr-platform-teensy40
control node
Two ZBLD.C20-120L2R motor drivers
Two exact ZBLD.C20-120L2R drivers, one per wheel, with identical published terminal and DIP-switch configuration.
Identity boundary: Published model and quantity do not establish serials, PCB revisions, potentiometer calibration, fault history or installed condition.
Source rows: openamr-platform-motor-driver
actuation node
Two Z4BLD60-24GN-30S geared BLDC motors
Two exact 24 V, 60 W Z4BLD60-24GN-30S motors with 4GN 25K gearboxes, one per wheel.
Identity boundary: Model, quantity and responsibility-party nameplate observations do not establish serials, winding lots, wear state, stall-current boundary or RCI-measured output.
Source rows: openamr-platform-motor
control node
Two AS5040 wheel encoders
Two exact AS5040 magnetic encoders operated from the 3.3 V domain, one per wheel.
Identity boundary: Chip identity and responsibility-party wiring are published; magnet alignment, physical mounting, individual calibration and RCI signal capture are absent.
Source rows: openamr-platform-encoder
control node
MPU-6500 base IMU
One responsibility-party-identified MPU-6500 on I²C address 0x68 and the Teensy 3.3 V domain.
Identity boundary: The project reports an MPU-6050/GY-521 board silkscreen conflict while identifying the installed chip as MPU-6500; RCI has not inspected the board.
Source rows: openamr-platform-imu
power node
24 V source and generic 24 V-to-5 V conversion branch
The design accepts a suitable 24 V source; its named reference uses four DM12-7S batteries and a generic approximately 300 W / 20 A buck converter.
Identity boundary: Battery chemistry is configurable, converter identity is unread, and the responsibility party identifies fuse and disconnect gaps; RCI has not powered or instrumented the branch.
Source rows: openamr-platform-battery, openamr-platform-dc-dc
| From → to | Relation | Published support | Still unresolved |
|---|---|---|---|
| Raspberry Pi 5 Model B Rev 1.1 (8 GB) → PJRC Teensy 4.0 real-time controllerbidirectional | data-controlUSB native serial micro-ROS link at published 115200 baud | The pinned wiring map explicitly connects Teensy native USB to Raspberry Pi for micro-ROS and publishes 115200 baud.openAMRobot/openamr-platform-hw commit 3f5bfde6608bc043752225966db80461222669ff | USB cable identity, Pi port, USB descriptor, agent version, ROS 2 distribution, firmware hash and reconnect behavior are not frozen. RCI has not enumerated or exchanged traffic on this path.Physical validation: none. |
| PJRC Teensy 4.0 real-time controller → Two ZBLD.C20-120L2R motor driverssource-to-target | data-controlLeft/right 3.3 V PWM plus FWD/REV and common-ground driver control | The pinned terminal table maps Teensy PWM/FWD/REV pins 1/20/21 and 5/6/8 to the left and right drivers, with COM tied to Teensy ground.openAMRobot/openamr-platform-hw commit 3f5bfde6608bc043752225966db80461222669ff | Harness wire identities, gauge, connector retention, filtering, measured logic margins and individual driver calibration are not serialised. RCI has not probed these signals.Physical validation: none. |
| Two ZBLD.C20-120L2R motor drivers → Two Z4BLD60-24GN-30S geared BLDC motorsbidirectional | data-controlPer-wheel U/V/W phase and Hu/Hv/Hw Hall-sensor motor harness | The pinned motor-control document publishes one driver per wheel, 24 V motor power, U/V/W phases and Hall connections for the exact driver and motor models.openAMRobot/openamr-platform-hw commit 3f5bfde6608bc043752225966db80461222669ff | Phase order, connector pin numbering at both physical units, continuity, insulation, Hall timing, serials and stall-current behavior are not frozen. RCI has not powered either motor.Physical validation: none. |
| Two AS5040 wheel encoders → PJRC Teensy 4.0 real-time controllersource-to-target | data-control3.3 V quadrature A/B feedback on pins 14/15 and 11/12 | The pinned encoder and wiring documents publish two AS5040 wheel encoders, their 3.3 V supply and left/right A/B pin assignments into Teensy.openAMRobot/openamr-platform-hw commit 3f5bfde6608bc043752225966db80461222669ff | Magnet alignment, wire identities, pull configuration, edge integrity, count direction, missed-count rate and physical wheel-scale calibration are not independently captured. RCI has no raw quadrature traces.Physical validation: none. |
| MPU-6500 base IMU → PJRC Teensy 4.0 real-time controllerbidirectional | data-control3.3 V I²C at address 0x68 on Teensy SDA18/SCL19 | The pinned wiring audit identifies the MPU-6500, 3.3 V domain, address 0x68 and Teensy SDA18/SCL19 endpoints.openAMRobot/openamr-platform-hw commit 3f5bfde6608bc043752225966db80461222669ff | The MPU-6050/GY-521 board silkscreen conflict, pull-ups, bus speed, register configuration, calibration, mounting transform and raw sample behavior remain unresolved by RCI. RCI has not enumerated the device.Physical validation: none. |
| 24 V source and generic 24 V-to-5 V conversion branch → Two ZBLD.C20-120L2R motor driverssource-to-target | power24 V DC source to both driver V+/V− inputs | The pinned power and wiring documentation places both driver DC inputs on the 24 V bus and documents the reference battery topology.openAMRobot/openamr-platform-hw commit 3f5bfde6608bc043752225966db80461222669ff | The project records a no-fuse/no-disconnect safety gap while other wiring prose says fused; exact as-built protection, polarity verification, wire gauge, current margin and fault interruption are therefore not frozen. RCI has not energized this bus.Physical validation: none. |
| 24 V source and generic 24 V-to-5 V conversion branch → Raspberry Pi 5 Model B Rev 1.1 (8 GB)source-to-target | power24 V bus through generic adjustable buck converter to 5 V compute domain | The pinned component and power records describe a generic 24 V-to-5 V CC/CV buck supplying the low-voltage compute branch that includes Raspberry Pi 5.openAMRobot/openamr-platform-hw commit 3f5bfde6608bc043752225966db80461222669ff | Converter model, output setting, connector, polarity, ripple, transient response, current limit, thermal margin and actual Pi input voltage are not published. RCI has not instrumented the converter.Physical validation: none. |
11 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 |
|---|---|---|---|---|
| Microcontroller — Teensy 4.0Components — Bill of Materials & datasheets | controlInstalled / build item | variant-namedPJRC · Teensy 4.0 / NXP i.MX RT1062 | 1 unit1 source-table unit; not an RCI-verified as-built count. | Real-time motor and sensor controlNo serialised as-built manifest or independent physical rebuild confirms this item in one unit. |
| Motor driver — ZBLD.C20-120L2RComponents — Bill of Materials & datasheets | controlInstalled / build item | variant-namedNingbo Zhongda Leader · ZBLD.C20-120L2R | 2 unit2 source-table units; not an RCI-verified as-built count. | BLDC motor driveNo serialised as-built manifest or independent physical rebuild confirms this item in one unit. |
| Geared BLDC motor — Z4BLD60-24GN-30SComponents — Bill of Materials & datasheets | actuationInstalled / build item | variant-namedNingbo Zhongda Leader · Z4BLD60-24GN-30S / 4GN 25K · 24 V · 60 W · 25:1 | 2 unit2 source-table units; not an RCI-verified as-built count. | Differential-drive tractionNo serialised as-built manifest or independent physical rebuild confirms this item in one unit. |
| Magnetic encoder — AS5040Components — Bill of Materials & datasheets | sensorInstalled / build item | variant-namedams OSRAM · AS5040 | 2 unit2 source-table units; not an RCI-verified as-built count. | Wheel odometry feedbackNo serialised as-built manifest or independent physical rebuild confirms this item in one unit. |
| IMU — MPU-6500Components — Bill of Materials & datasheets | sensorInstalled / build item | variant-namedTDK InvenSense · MPU-6500 | 1 unit1 source-table unit; not an RCI-verified as-built count. | Base inertial sensingThe project reports board silkscreen “MPU-6050” while identifying the installed chip as MPU-6500; RCI has not inspected the board. |
| LiDAR — RPLIDAR A1Components — Bill of Materials & datasheets | sensorInstalled / build item | variant-namedSlamtec · RPLIDAR A1 / probable A1M8 | 1 unit1 source-table unit; not an RCI-verified as-built count. | 2D ranging for navigationThe project marks exact sticker confirmation as still pending. |
| Camera Module 3 NoIRComponents — Bill of Materials & datasheets | sensorInstalled / build item | variant-namedRaspberry Pi · Camera Module 3 NoIR / Sony IMX708 | 1 unit1 source-table unit; not an RCI-verified as-built count. | Visual perceptionNo serialised as-built manifest or independent physical rebuild confirms this item in one unit. |
| Raspberry Pi 5Components — Bill of Materials & datasheets | computeInstalled / build item | variant-namedRaspberry Pi · Raspberry Pi 5 Model B Rev 1.1 · 8 GB | 1 unit1 source-table unit; not an RCI-verified as-built count. | ROS 2 navigation and perception computeNo serialised as-built manifest or independent physical rebuild confirms this item in one unit. |
| Generic 24 V to 5 V CC/CV buckComponents — Bill of Materials & datasheets | powerInstalled / build item | generic-descriptionapproximately 300 W / 20 A | 1 unit1 source-table unit; not an RCI-verified as-built count. | Low-voltage compute supplyThe project marks the exact converter model as unread. |
| 24 V battery sourceComponents — Bill of Materials & datasheets | powerInstalled / build item | variant-namedReference: DM12-7S · Four 12 V 7 Ah lead-acid batteries in reference build | 4 unitThe project permits any suitable 24 V pack; quantity four applies only to its named DM12-7S reference build and is not a universal platform quantity. | Main energy storageChemistry and pack topology are alternatives; fuse and disconnect are identified by the project as safety gaps. |
| AC/DC 230 V to 24 V converterComponents — Bill of Materials & datasheets | powerInstalled / build item | generic-descriptionNo exact identity published | 1 unit1 source-table unit; not an RCI-verified as-built count. | Mains-powered 24 V sourceBrand, model and rating are marked unknown by the responsibility party. |
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.
OpenAMR components BOM and datasheets ↗
Eleven numbered electrical/electronic identity rows and project-published configuration boundaries
Commit 3f5bfde · file updated 2026-06-19OpenAMR platform hardware repository ↗
Mechanical, electrical, datasheet and manufacturing evidence under the repository boundary
Commit 3f5bfde · MITCorrection 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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