[ { "id": "mcmaster-6656k236", "key": "bearing_61812", "category": "bearing", "vendor": "McMaster-Carr", "model": "6656K236", "name": "Steel Ball Bearing, Steel, Shielded, Trade Number 6812-2Z, ABEC Rating 1", "price_usd": 69.11, "price_note": "McMaster-Carr: $69.11 each (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 1, "pack_price_usd": 69.11, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/6656K236/", "in_stock": null, "ships_from": "US" } ], "specs": { "id_mm": 60.0, "od_mm": 78.0, "width_mm": 10.0, "mass_g": 97.439, "mass_basis": "CAD volume x density 7.85 g/cm3 (estimate)", "material": "Steel", "mcmaster": { "raw": { "For Shaft Type": "Round", "Bearing Seal Type": "Shielded", "Material": "Steel", "For Shaft Diameter": "60 mm", "For Housing ID": "78 mm", "Width": "10 mm", "Width Tolerance": "-0.127 mm to 0 mm", "ABEC Rating": "1", "Dynamic Radial Load Capacity": "2,550 lb.", "Maximum Rotation Speed": "8,000 rpm", "Temperature Range Minimum": "-40° F", "Temperature Range Max.": "150° F", "Inner Ring Type": "Standard", "Bearing Trade Number": "6812-2Z", "Ball Bearing Profile": "Standard", "Ball Material": "Steel", "Bearing Construction": "Single Row", "Bearing Type": "Ball", "Cage Material": "Steel", "For Load Direction": "Radial", "ID": "60 mm", "ID Tolerance": "-0.015 mm to 0 mm", "Lubricant": "Grease", "Lubrication": "Lubricated", "OD": "78 mm", "OD Tolerance": "-0.013 mm to 0 mm", "Radial Clearance": "0.005 mm to 0.013 mm", "Shaft Mount Type": "Press Fit", "Static Radial Load Capacity": "2,350 lb.", "System of Measurement": "Metric", "Country of Origin": "Japan", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "1C999", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "848210.5028", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "For Shaft Diameter": { "value": 60.0, "unit": "mm" }, "For Housing ID": { "value": 78.0, "unit": "mm" }, "Width": { "value": 10.0, "unit": "mm" }, "Width Tolerance": { "min": -0.127, "max": 0.0, "unit": "mm" }, "Dynamic Radial Load Capacity": { "value": 11342.96508, "unit": "N" }, "Maximum Rotation Speed": { "value": 8000.0, "unit": "rpm" }, "Temperature Range Minimum": { "value": -40.0, "unit": "degC" }, "Temperature Range Max.": { "value": 65.555556, "unit": "degC" }, "ID": { "value": 60.0, "unit": "mm" }, "ID Tolerance": { "min": -0.015, "max": 0.0, "unit": "mm" }, "OD": { "value": 78.0, "unit": "mm" }, "OD Tolerance": { "min": -0.013, "max": 0.0, "unit": "mm" }, "Radial Clearance": { "min": 0.005, "max": 0.013, "unit": "mm" }, "Static Radial Load Capacity": { "value": 10453.32076, "unit": "N" } } } }, "cad": { "file": "references/vendor/mcmaster/6656K236/6656K236.norm.step", "kind": "bearing", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/6656K236/", "bbox_mm": { "min": [ -39.0, -39.0, 0.0 ], "max": [ 39.0, 39.0, 10.0 ], "size": [ 78.0, 78.0, 10.0 ] }, "volume_mm3": 12412.67 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/6656K236/" ], "confidence": "product page", "used_for": "support bearing in each motor plate (AC-L), around the output adapter journal", "qty_per_robot": 4, "notes": "McMaster stocks no 61812-2RS (sealed). 6812-2Z (= 61812-2Z, shielded both sides, 60 x 78 x 10) is the closest; the open 6812 is 6656K148." }, { "id": "mcmaster-5972k82", "key": "bearing_6001", "category": "bearing", "vendor": "McMaster-Carr", "model": "5972K82", "name": "Steel Ball Bearing, Sealed, Trade No. 6001-2RS, for 12 mm Shaft Diameter", "price_usd": 10.91, "price_note": "McMaster-Carr: $10.91 each (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 1, "pack_price_usd": 10.91, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/5972K82/", "in_stock": null, "ships_from": "US" } ], "specs": { "id_mm": 12.0, "od_mm": 28.0, "width_mm": 8.0, "mass_g": 20.406, "mass_basis": "CAD volume x density 7.85 g/cm3 (estimate)", "material": "Steel", "mcmaster": { "raw": { "For Shaft Type": "Round", "Bearing Seal Type": "Sealed", "Material": "Steel", "For Shaft Diameter": "12 mm", "For Housing ID": "28 mm", "Width": "8 mm", "Width Tolerance": "-0.12 mm to 0 mm", "ABEC Rating": "1", "Dynamic Radial Load Capacity": "1,100 lb.", "Maximum Rotation Speed": "16,100 rpm", "Temperature Range Minimum": "-20° F", "Temperature Range Max.": "230° F", "Inner Ring Type": "Standard", "Bearing Trade Number": "6001-2RS", "Ball Bearing Profile": "Standard", "Ball Material": "Steel", "Bearing Construction": "Single Row", "Bearing Type": "Ball", "Cage Material": "Steel", "For Load Direction": "Radial", "ID": "12 mm", "ID Tolerance": "-0.008 mm to 0 mm", "Lubricant": "Grease", "Lubrication": "Lubricated", "OD": "28 mm", "OD Tolerance": "-0.009 mm to 0 mm", "Radial Clearance": "0.011 mm to 0.025 mm", "Radial Clearance Trade Number": "C3", "Seal Material": "Buna-N", "Shaft Mount Type": "Press Fit", "Specifications Met": "DIN 625-1", "Static Radial Load Capacity": "530 lb.", "System of Measurement": "Metric", "Country of Origin": "Portugal", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "1C999", "REACH Compliance": "REACH (EC 1907/2006) (06/25/2025, 250 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "848210.5044", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "For Shaft Diameter": { "value": 12.0, "unit": "mm" }, "For Housing ID": { "value": 28.0, "unit": "mm" }, "Width": { "value": 8.0, "unit": "mm" }, "Width Tolerance": { "min": -0.12, "max": 0.0, "unit": "mm" }, "Dynamic Radial Load Capacity": { "value": 4893.04376, "unit": "N" }, "Maximum Rotation Speed": { "value": 16100.0, "unit": "rpm" }, "Temperature Range Minimum": { "value": -28.888889, "unit": "degC" }, "Temperature Range Max.": { "value": 110.0, "unit": "degC" }, "ID": { "value": 12.0, "unit": "mm" }, "ID Tolerance": { "min": -0.008, "max": 0.0, "unit": "mm" }, "OD": { "value": 28.0, "unit": "mm" }, "OD Tolerance": { "min": -0.009, "max": 0.0, "unit": "mm" }, "Radial Clearance": { "min": 0.011, "max": 0.025, "unit": "mm" }, "Static Radial Load Capacity": { "value": 2357.557448, "unit": "N" } } } }, "cad": { "file": "references/vendor/mcmaster/5972K82/5972K82.norm.step", "kind": "bearing", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/5972K82/", "bbox_mm": { "min": [ -14.0, -14.0, 0.0 ], "max": [ 14.0, 14.0, 8.0 ], "size": [ 28.0, 28.0, 8.0 ] }, "volume_mm3": 2599.534 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/5972K82/" ], "confidence": "product page", "used_for": "knee cartridge (KC): two per shin, pressed in", "qty_per_robot": 4 }, { "id": "mcmaster-92981a411", "key": "knee_pin", "category": "fastener", "vendor": "McMaster-Carr", "model": "92981A411", "name": "Alloy Steel Shoulder Screws, 12 mm Shoulder Diameter, 90 mm Shoulder Length, M10 x 1.5 mm Thread", "price_usd": 8.02, "price_note": "McMaster-Carr: $8.02 each (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 1, "pack_price_usd": 8.02, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/92981A411/", "in_stock": null, "ships_from": "US" } ], "specs": { "shoulder_d_mm": 12.0, "shoulder_length_mm": 90.0, "thread": "M10x1.5", "thread_length_mm": 16.0, "head_d_mm": 18.0, "head_height_mm": 9.0, "mass_g": 104.13, "mass_basis": "CAD volume x density 7.85 g/cm3 (estimate)", "material": "Black-Oxide Alloy Steel", "mcmaster": { "raw": { "Shoulder Fit": "Standard", "Thread Direction": "Right Hand", "Socket Head Profile": "Standard", "Fastener Head Type": "Socket", "Drive Style": "Hex", "Material": "Black-Oxide Alloy Steel", "Shoulder Diameter": "12 mm", "Shoulder Diameter Tolerance": "-0.072 mm to -0.01 mm", "Shoulder Length": "90 mm", "Shoulder Length Tolerance": "0 mm to 0.25 mm", "Thread Size": "M10 × 1.5 mm", "Thread Length": "16 mm", "Head Diameter": "18 mm", "Head Height": "9 mm", "Drive Size": "6 mm", "Tensile Strength": "140,000 psi", "Hardness": "Rockwell C32", "Head Texture": "Smooth", "Minimum Shear Strength": "84,000 psi", "Performance": "High Strength, Wear Resistant", "Relative Thread Length": "Standard", "Relative Thread Size": "Standard", "Specifications Met": "ISO 7379", "System of Measurement": "Metric", "Thread Fit": "Metric Class 5g6g", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals Compliant (252.225-7009)", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "Not Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731815.9000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes" }, "parsed": { "Shoulder Diameter": { "value": 12.0, "unit": "mm" }, "Shoulder Diameter Tolerance": { "min": -0.072, "max": -0.01, "unit": "mm" }, "Shoulder Length": { "value": 90.0, "unit": "mm" }, "Shoulder Length Tolerance": { "min": 0.0, "max": 0.25, "unit": "mm" }, "Thread Size": { "thread": "M10x1.5", "d": 10.0, "pitch": 1.5, "unit": "mm" }, "Thread Length": { "value": 16.0, "unit": "mm" }, "Head Diameter": { "value": 18.0, "unit": "mm" }, "Head Height": { "value": 9.0, "unit": "mm" }, "Drive Size": { "value": 6.0, "unit": "mm" }, "Tensile Strength": { "value": 965.2664, "unit": "MPa" }, "Minimum Shear Strength": { "value": 579.15984, "unit": "MPa" } } } }, "cad": { "file": "references/vendor/mcmaster/92981A411/92981A411.norm.step", "kind": "shoulder_screw", "frame": "axis +Z, centred on the axis, underside of the head at z = 0, head on +z, shoulder and thread towards -z", "available": true, "step_url": "https://www.mcmaster.com/92981A411/", "bbox_mm": { "min": [ -9.0, -9.0, -106.383 ], "max": [ 9.0, 9.0, 9.0 ], "size": [ 18.0, 18.0, 115.383 ] }, "volume_mm3": 13264.997 }, "frame": "axis +Z, centred on the axis, underside of the head at z = 0, head on +z, shoulder and thread towards -z", "sources": [ "https://www.mcmaster.com/92981A411/" ], "confidence": "product page", "used_for": "leg v2 knee pin: head on the lower link's outer washer, through its two 6201s and the upper link's two eye sleeves, to the M10 nyloc in the eye boss's pocket (cad/fivebar.py knee_pin_length)", "qty_per_robot": 4, "notes": "Shoulder must span thigh 44 + gap 15 + shin 28 = 87 mm (cad/leg.py stack), not 40: 90 mm is the stocked length; take up the 3 mm with 12 mm ID shims, and the 15 mm gap needs a spacer (12 mm ID)." }, { "id": "mcmaster-94645a220", "key": "nut_m10_nyloc", "category": "fastener", "vendor": "McMaster-Carr", "model": "94645A220", "name": "High-Strength Steel Nylon-Insert Locknut, Zinc Plated, M10 x 1.5 mm Thread Size", "price_usd": 0.4632, "price_note": "McMaster-Carr: $11.58 per pack of 25 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 25, "pack_price_usd": 11.58, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/94645A220/", "in_stock": null, "ships_from": "US" } ], "specs": { "width_mm": 17.0, "height_mm": 10.0, "thread": "M10", "mass_g": 12.3, "mass_basis": "CAD volume x density 7.1 g/cm3 (estimate)", "material": "Zinc-Plated Steel", "mcmaster": { "raw": { "Thread Direction": "Right Hand", "Hex Nut Profile": "Standard", "Locking Type": "Nylon Insert", "Fastener Strength Rating": "High", "Finished Material": "Zinc-Plated Steel", "Thread Size": "M10", "Thread Pitch": "1.5 mm", "Width": "17 mm", "Height": "10 mm", "Fastener Strength Grade/Class": "Class 10", "Insert Maximum Temperature": "185° F", "Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "Drive Style": "External Hex", "Nut Type": "Hex, Locknut", "Performance": "Vibration Resistant, High Strength", "Specifications Met": "DIN 985", "System of Measurement": "Metric", "Thread Fit": "Metric Class 6H", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Country of Origin": "United States, Belgium, Canada, China, France, Germany, India, Indonesia, Italy, Japan, Malaysia, Mexico, Philippines, Poland, South Korea, Switzerland, Taiwan, Thailand, Vietnam", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731816.0000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "Thread Pitch": { "value": 1.5, "unit": "mm" }, "Width": { "value": 17.0, "unit": "mm" }, "Height": { "value": 10.0, "unit": "mm" }, "Insert Maximum Temperature": { "value": 85.0, "unit": "degC" } } } }, "cad": { "file": "references/vendor/mcmaster/94645A220/94645A220.norm.step", "kind": "nut", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/94645A220/", "bbox_mm": { "min": [ -9.7624, -8.5, 0.0 ], "max": [ 9.7624, 8.5, 10.0 ], "size": [ 19.5247, 17.0, 10.0 ] }, "volume_mm3": 1732.347 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/94645A220/" ], "confidence": "product page", "used_for": "knee pin nut (M10 shoulder-screw thread)", "qty_per_robot": 4, "notes": " Leg v2: one per knee, 4 per robot." }, { "id": "mcmaster-59935k53", "key": "rod_end_m8", "category": "bearing", "vendor": "McMaster-Carr", "model": "59935K53", "name": "Ball Joint Rod End, M8 x 1.25mm Internal Thread", "price_usd": 16.93, "price_note": "McMaster-Carr: $16.93 each (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 1, "pack_price_usd": 16.93, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/59935K53/", "in_stock": null, "ships_from": "US" } ], "specs": { "id_mm": 8.0, "overall_width_mm": 22.0, "mass_g": 47.581, "mass_basis": "CAD volume x density 7.1 g/cm3 (estimate)", "material": "Zinc-Plated Carbon Steel", "mcmaster": { "raw": { "Rod End Type": "Ball Joint", "Shank Thread Size": "M8 × 1.25 mm", "Shank Center Length": "36 mm", "Shank Thread Length": "17 mm", "ID": "8 mm", "ID Tolerance": "-0.013 mm to 0.065 mm", "Maximum Ball Swivel": "28°", "Overall Width": "22 mm", "Overall Thickness": "12 mm", "Static Radial Load Capacity": "3,400 lb.", "Material": "Zinc-Plated Carbon Steel", "Shank Thread Direction": "Right Hand", "Ball Material": "Alloy Steel", "Lubrication": "Required", "Relubrication": "Required", "Shank Gender": "Female", "Shank Threading": "Fully Threaded", "System of Measurement": "Metric", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (11/07/2024, 242 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "848330.8055", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "Shank Thread Size": { "thread": "M8x1.25", "d": 8.0, "pitch": 1.25, "unit": "mm" }, "Shank Center Length": { "value": 36.0, "unit": "mm" }, "Shank Thread Length": { "value": 17.0, "unit": "mm" }, "ID": { "value": 8.0, "unit": "mm" }, "ID Tolerance": { "min": -0.013, "max": 0.065, "unit": "mm" }, "Overall Width": { "value": 22.0, "unit": "mm" }, "Overall Thickness": { "value": 12.0, "unit": "mm" }, "Static Radial Load Capacity": { "value": 15123.95344, "unit": "N" } } } }, "cad": { "file": "references/vendor/mcmaster/59935K53/59935K53.norm.step", "kind": "rod_end", "frame": "ball centre at the origin, ball bore along +Y, threaded shank along -Z", "available": true, "step_url": "https://www.mcmaster.com/59935K53/", "bbox_mm": { "min": [ -11.125, -7.0, -36.0 ], "max": [ 11.125, 7.0, 11.125 ], "size": [ 22.25, 14.0, 47.125 ] }, "volume_mm3": 6701.539 }, "frame": "ball centre at the origin, ball bore along +Y, threaded shank along -Z", "sources": [ "https://www.mcmaster.com/59935K53/" ], "confidence": "product page", "used_for": "push-rod ends (PR): two per rod, right-hand thread", "qty_per_robot": 4, "choose": [ "Right Hand" ], "notes": "Ball width 12 = PR.rod_end_ball_w; centre to shank end 36, thread 17 deep.", "options": [ "Shank Thread Direction Right Hand", "Shank Thread Direction" ] }, { "id": "mcmaster-99067a116", "key": "threaded_rod_m8", "category": "fastener", "vendor": "McMaster-Carr", "model": "99067A116", "name": "Medium-Strength Threaded Rod, Class 8.8 Zinc-Plated Steel, M8 x 1.25 mm Thread, 500 mm Long", "price_usd": 13.84, "price_note": "McMaster-Carr: $13.84 each (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 1, "pack_price_usd": 13.84, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/99067A116/", "in_stock": null, "ships_from": "US" } ], "specs": { "thread": "M8x1.25", "length_mm": 500.0, "mass_g": 160.226, "mass_basis": "CAD volume x density 7.85 g/cm3 (estimate)", "material": "Steel, Zinc Plated", "mcmaster": { "raw": { "Thread Direction": "Right Hand", "Fastener Strength Rating": "Medium", "Thread Size": "M8 × 1.25 mm", "Length": "500 mm", "Tensile Strength": "110,000 psi", "Fastener Strength Grade/Class": "Class 8.8", "Hardness": "Rockwell C20", "Specifications Met": "DIN 976", "Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "Finish": "Zinc Plated", "Material": "Steel", "System of Measurement": "Metric", "Thread Fit": "Metric Class 6g", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Threading": "Fully Threaded", "Country of Origin": "United States", "DFARS Compliance": "Not Specialty Metals Compliant", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731815.5000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes" }, "parsed": { "Thread Size": { "thread": "M8x1.25", "d": 8.0, "pitch": 1.25, "unit": "mm" }, "Length": { "value": 500.0, "unit": "mm" }, "Tensile Strength": { "value": 758.4236, "unit": "MPa" } } } }, "cad": { "file": "references/vendor/mcmaster/99067A116/99067A116.norm.step", "kind": "rod", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/99067A116/", "bbox_mm": { "min": [ -4.0, -4.0, 0.0 ], "max": [ 4.0, 4.0, 500.0 ], "size": [ 8.0, 8.0, 500.0 ] }, "volume_mm3": 20410.959 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/99067A116/" ], "confidence": "product page", "used_for": "push-rods: cut two ~156 mm pieces (200 centres - 2 x 36 + 2 x 14 engagement)", "qty_per_robot": 1 }, { "id": "mcmaster-90695a040", "key": "jam_nut_m8", "category": "fastener", "vendor": "McMaster-Carr", "model": "90695A040", "name": "Medium-Strength Steel Thin-Profile Hex Nut, Zinc-Plated, M8 x 1.25 mm Thread, Class 04", "price_usd": 0.0863, "price_note": "McMaster-Carr: $8.63 per pack of 100 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 100, "pack_price_usd": 8.63, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/90695A040/", "in_stock": null, "ships_from": "US" } ], "specs": { "thread": "M8x1.25", "width_mm": 13.0, "height_mm": 4.0, "mass_g": 2.866, "mass_basis": "CAD volume x density 7.1 g/cm3 (estimate)", "material": "Zinc-Plated Steel", "mcmaster": { "raw": { "Hex Nut Profile": "Thin", "Fastener Strength Rating": "Medium", "Material": "Zinc-Plated Steel", "Thread Size": "M8 × 1.25 mm", "Width": "13 mm", "Height": "4 mm", "Fastener Strength Grade/Class": "Class 04", "Specifications Met": "DIN 439B, ISO 4035", "Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "Drive Style": "External Hex", "Nut Type": "Hex", "System of Measurement": "Metric", "Thread Direction": "Right Hand", "Thread Fit": "Metric Class 6H", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Country of Origin": "United States, Belgium, Canada, China, France, Germany, India, Indonesia, Italy, Japan, Malaysia, Mexico, Philippines, Poland, South Korea, Switzerland, Taiwan, Thailand, Vietnam", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731816.0000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "Thread Size": { "thread": "M8x1.25", "d": 8.0, "pitch": 1.25, "unit": "mm" }, "Width": { "value": 13.0, "unit": "mm" }, "Height": { "value": 4.0, "unit": "mm" } } } }, "cad": { "file": "references/vendor/mcmaster/90695A040/90695A040.norm.step", "kind": "nut", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/90695A040/", "bbox_mm": { "min": [ -7.4553, -6.5, 0.0 ], "max": [ 7.4553, 6.5, 4.0 ], "size": [ 14.9106, 13.0, 4.0 ] }, "volume_mm3": 403.712 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/90695A040/" ], "confidence": "product page", "used_for": "locks each rod end on the threaded rod", "qty_per_robot": 4 }, { "id": "mcmaster-92981a205", "key": "rod_end_pin", "category": "fastener", "vendor": "McMaster-Carr", "model": "92981A205", "name": "Alloy Steel Shoulder Screws, 8 mm Shoulder Diameter, 30 mm Shoulder Length, M6 x 1 mm Thread", "price_usd": 2.97, "price_note": "McMaster-Carr: $2.97 each (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 1, "pack_price_usd": 2.97, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/92981A205/", "in_stock": null, "ships_from": "US" } ], "specs": { "shoulder_d_mm": 8.0, "shoulder_length_mm": 30.0, "thread": "M6x1", "thread_length_mm": 11.0, "head_d_mm": 13.0, "head_height_mm": 6.0, "mass_g": 19.268, "mass_basis": "CAD volume x density 7.85 g/cm3 (estimate)", "material": "Black-Oxide Alloy Steel", "mcmaster": { "raw": { "Shoulder Fit": "Standard", "Thread Direction": "Right Hand", "Socket Head Profile": "Standard", "Fastener Head Type": "Socket", "Drive Style": "Hex", "Material": "Black-Oxide Alloy Steel", "Shoulder Diameter": "8 mm", "Shoulder Diameter Tolerance": "-0.072 mm to -0.01 mm", "Shoulder Length": "30 mm", "Shoulder Length Tolerance": "0 mm to 0.25 mm", "Thread Size": "M6 × 1 mm", "Thread Length": "11 mm", "Head Diameter": "13 mm", "Head Height": "6 mm", "Drive Size": "4 mm", "Tensile Strength": "140,000 psi", "Material Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "Hardness": "Rockwell C32", "Head Texture": "Knurled", "Minimum Shear Strength": "84,000 psi", "Performance": "High Strength, Wear Resistant", "Relative Thread Length": "Standard", "Relative Thread Size": "Standard", "Specifications Met": "ISO 7379", "System of Measurement": "Metric", "Thread Fit": "Metric Class 5g6g", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Country of Origin": "United States, Belgium, Canada, China, France, Germany, India, Indonesia, Italy, Japan, Malaysia, Mexico, Philippines, Poland, South Korea, Switzerland, Taiwan, Thailand, Vietnam", "DFARS Compliance": "Not Specialty Metals Compliant", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731815.9000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "Shoulder Diameter": { "value": 8.0, "unit": "mm" }, "Shoulder Diameter Tolerance": { "min": -0.072, "max": -0.01, "unit": "mm" }, "Shoulder Length": { "value": 30.0, "unit": "mm" }, "Shoulder Length Tolerance": { "min": 0.0, "max": 0.25, "unit": "mm" }, "Thread Size": { "thread": "M6x1", "d": 6.0, "pitch": 1.0, "unit": "mm" }, "Thread Length": { "value": 11.0, "unit": "mm" }, "Head Diameter": { "value": 13.0, "unit": "mm" }, "Head Height": { "value": 6.0, "unit": "mm" }, "Drive Size": { "value": 4.0, "unit": "mm" }, "Tensile Strength": { "value": 965.2664, "unit": "MPa" }, "Minimum Shear Strength": { "value": 579.15984, "unit": "MPa" } } } }, "cad": { "file": "references/vendor/mcmaster/92981A205/92981A205.norm.step", "kind": "shoulder_screw", "frame": "axis +Z, centred on the axis, underside of the head at z = 0, head on +z, shoulder and thread towards -z", "available": true, "step_url": "https://www.mcmaster.com/92981A205/", "bbox_mm": { "min": [ -6.5, -6.5, -41.0 ], "max": [ 6.5, 6.5, 6.0 ], "size": [ 13.0, 13.0, 47.0 ] }, "volume_mm3": 2454.528 }, "frame": "axis +Z, centred on the axis, underside of the head at z = 0, head on +z, shoulder and thread towards -z", "sources": [ "https://www.mcmaster.com/92981A205/" ], "confidence": "product page", "used_for": "pin through each rod end into the knee crank / shin lever (8 mm shoulder, M6)", "qty_per_robot": 4, "notes": "Stack crank side: ball 12 + gap 1.5 + crank 14 = 27.5; lever side: 12 + 1.5 + 12 = 25.5. 30 mm shoulder with shims (or make the lever 14 thick like the crank)." }, { "id": "mcmaster-94645a205", "key": "nut_m6_nyloc", "category": "fastener", "vendor": "McMaster-Carr", "model": "94645A205", "name": "High-Strength Steel Nylon-Insert Locknut, Zinc Plated, M6 x 1 mm Thread Size", "price_usd": 0.1226, "price_note": "McMaster-Carr: $12.26 per pack of 100 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 100, "pack_price_usd": 12.26, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/94645A205/", "in_stock": null, "ships_from": "US" } ], "specs": { "width_mm": 10.0, "height_mm": 6.0, "thread": "M6", "mass_g": 2.537, "mass_basis": "CAD volume x density 7.1 g/cm3 (estimate)", "material": "Zinc-Plated Steel", "mcmaster": { "raw": { "Thread Direction": "Right Hand", "Hex Nut Profile": "Standard", "Locking Type": "Nylon Insert", "Fastener Strength Rating": "High", "Finished Material": "Zinc-Plated Steel", "Thread Size": "M6", "Thread Pitch": "1 mm", "Width": "10 mm", "Height": "6 mm", "Fastener Strength Grade/Class": "Class 10", "Insert Maximum Temperature": "185° F", "Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "Drive Style": "External Hex", "Nut Type": "Hex, Locknut", "Performance": "Vibration Resistant, High Strength", "Specifications Met": "DIN 985", "System of Measurement": "Metric", "Thread Fit": "Metric Class 6H", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Country of Origin": "Taiwan", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731816.0000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "Thread Pitch": { "value": 1.0, "unit": "mm" }, "Width": { "value": 10.0, "unit": "mm" }, "Height": { "value": 6.0, "unit": "mm" }, "Insert Maximum Temperature": { "value": 85.0, "unit": "degC" } } } }, "cad": { "file": "references/vendor/mcmaster/94645A205/94645A205.norm.step", "kind": "nut", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/94645A205/", "bbox_mm": { "min": [ -5.7417, -5.0, 0.0 ], "max": [ 5.7426, 5.0, 6.0 ], "size": [ 11.4843, 10.0, 6.0 ] }, "volume_mm3": 357.274 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/94645A205/" ], "confidence": "product page", "used_for": "rod-end pins (4) and HM through-bolts (12)", "qty_per_robot": 16 }, { "id": "mcmaster-93475a270", "key": "washer_m8", "category": "fastener", "vendor": "McMaster-Carr", "model": "93475A270", "name": "18-8 Stainless Steel General Purpose Washer, for M8 Screw Size, 8.4 mm ID, 16.0 mm OD", "price_usd": 0.151, "price_note": "McMaster-Carr: $15.10 per pack of 100 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 100, "pack_price_usd": 15.1, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/93475A270/", "in_stock": null, "ships_from": "US" } ], "specs": { "id_mm": 8.4, "od_mm": 16.0, "mass_g": 1.863, "mass_basis": "CAD volume x density 8.0 g/cm3 (estimate)", "material": "18-8 Stainless Steel", "mcmaster": { "raw": { "Washer Designation": "General Purpose", "Material": "18-8 Stainless Steel", "For Screw Size": "M8", "ID": "8.4 mm", "OD": "16.0 mm", "Thickness": "1.4 mm to 1.8 mm", "Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "Hardness": "Not Rated", "Performance": "Corrosion Resistant", "Specifications Met": "DIN 125", "System of Measurement": "Metric", "Washer Type": "Flat", "Country of Origin": "China", "DFARS Compliance": "Not Specialty Metals Compliant", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731822.0000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "ID": { "value": 8.4, "unit": "mm" }, "OD": { "value": 16.0, "unit": "mm" }, "Thickness": { "min": 1.4, "max": 1.8, "unit": "mm" } } } }, "cad": { "file": "references/vendor/mcmaster/93475A270/93475A270.norm.step", "kind": "washer", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/93475A270/", "bbox_mm": { "min": [ -8.0, -8.0, 0.0 ], "max": [ 8.0, 8.0, 1.6 ], "size": [ 16.0, 16.0, 1.6 ] }, "volume_mm3": 232.912 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/93475A270/" ], "confidence": "product page", "used_for": "between each rod-end ball and the crank / lever (fills the 1.5 mm gap; washer is 1.6)", "qty_per_robot": 4 }, { "id": "mcmaster-94669a155", "key": "spacer_post_51", "category": "fastener", "vendor": "McMaster-Carr", "model": "94669A155", "name": "Aluminum Unthreaded Spacer, 10 mm OD, 51 mm Long, for M5 Screw Size", "price_usd": 2.42, "price_note": "McMaster-Carr: $2.42 each (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 1, "pack_price_usd": 2.42, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/94669A155/", "in_stock": null, "ships_from": "US" } ], "specs": { "od_mm": 10.0, "length_mm": 51.0, "id_mm": 5.3, "mass_g": 7.767, "mass_basis": "CAD volume x density 2.7 g/cm3 (estimate)", "material": "Aluminum", "mcmaster": { "raw": { "Mount Type": "Unthreaded Hole", "Material": "Aluminum", "OD": "10 mm", "OD Tolerance": "-0.13 mm to 0.13 mm", "Length": "51 mm", "Length Tolerance": "-0.13 mm to 0.13 mm", "For Screw Size": "M5", "ID": "5.300 mm", "ID Tolerance": "-0.13 mm to 0.13 mm", "Hardness": "Rockwell B50", "Performance": "Corrosion Resistant, Lightweight, Nonmagnetic", "Shape": "Round", "System of Measurement": "Metric", "Tensile Strength": "45,000 psi", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "Not Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant with Exemptions", "RoHS Exemptions": "6(b)", "Schedule B Number": "761610.8000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes" }, "parsed": { "OD": { "value": 10.0, "unit": "mm" }, "OD Tolerance": { "min": -0.13, "max": 0.13, "unit": "mm" }, "Length": { "value": 51.0, "unit": "mm" }, "Length Tolerance": { "min": -0.13, "max": 0.13, "unit": "mm" }, "ID": { "value": 5.3, "unit": "mm" }, "ID Tolerance": { "min": -0.13, "max": 0.13, "unit": "mm" }, "Tensile Strength": { "value": 310.2642, "unit": "MPa" } } } }, "cad": { "file": "references/vendor/mcmaster/94669A155/94669A155.norm.step", "kind": "spacer", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/94669A155/", "bbox_mm": { "min": [ -5.0, -5.0, 0.0 ], "max": [ 5.0, 5.0, 51.0 ], "size": [ 10.0, 10.0, 51.0 ] }, "volume_mm3": 2876.509 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/94669A155/" ], "confidence": "product page", "used_for": "motor-plate posts: 51 + 24 = 75 mm stacked aluminium spacers, Ø10, on an M5 through-bolt", "qty_per_robot": 6, "notes": "No 75 mm M5 standoff or spacer is stocked (metric aluminium standoffs and spacers stop at ~51 mm)." }, { "id": "mcmaster-94669a343", "key": "spacer_post_24", "category": "fastener", "vendor": "McMaster-Carr", "model": "94669A343", "name": "Aluminum Unthreaded Spacer, 10 mm OD, 24 mm Long, for M5 Screw Size", "price_usd": 2.69, "price_note": "McMaster-Carr: $2.69 each (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 1, "pack_price_usd": 2.69, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/94669A343/", "in_stock": null, "ships_from": "US" } ], "specs": { "od_mm": 10.0, "length_mm": 24.0, "id_mm": 5.3, "mass_g": 3.649, "mass_basis": "CAD volume x density 2.7 g/cm3 (estimate)", "material": "Aluminum", "mcmaster": { "raw": { "Mount Type": "Unthreaded Hole", "Material": "Aluminum", "OD": "10 mm", "OD Tolerance": "-0.13 mm to 0.13 mm", "Length": "24 mm", "Length Tolerance": "-0.13 mm to 0.13 mm", "For Screw Size": "M5", "ID": "5.300 mm", "ID Tolerance": "-0.3 mm to 0 mm", "Hardness": "Rockwell B40", "Performance": "Corrosion Resistant, Lightweight, Nonmagnetic", "Shape": "Round", "System of Measurement": "Metric", "Tensile Strength": "42,000 psi", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant with Exemptions", "RoHS Exemptions": "6(b)-II", "Schedule B Number": "761610.8000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes" }, "parsed": { "OD": { "value": 10.0, "unit": "mm" }, "OD Tolerance": { "min": -0.13, "max": 0.13, "unit": "mm" }, "Length": { "value": 24.0, "unit": "mm" }, "Length Tolerance": { "min": -0.13, "max": 0.13, "unit": "mm" }, "ID": { "value": 5.3, "unit": "mm" }, "ID Tolerance": { "min": -0.3, "max": 0.0, "unit": "mm" }, "Tensile Strength": { "value": 289.57992, "unit": "MPa" } } } }, "cad": { "file": "references/vendor/mcmaster/94669A343/94669A343.norm.step", "kind": "spacer", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/94669A343/", "bbox_mm": { "min": [ -5.0, -5.0, 0.0 ], "max": [ 5.0, 5.0, 24.0 ], "size": [ 10.0, 10.0, 24.0 ] }, "volume_mm3": 1351.603 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/94669A343/" ], "confidence": "product page", "used_for": "motor-plate posts: the 24 mm half of the 75 mm stack", "qty_per_robot": 6 }, { "id": "mcmaster-91290a142", "key": "screw_m5x140", "category": "fastener", "vendor": "McMaster-Carr", "model": "91290A142", "name": "Black-Oxide Alloy Steel Socket Head Screw, M5 x 0.8 mm Thread Size, 140 mm Long", "price_usd": 2.752, "price_note": "McMaster-Carr: $13.76 per pack of 5 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 5, "pack_price_usd": 13.76, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/91290A142/", "in_stock": null, "ships_from": "US" } ], "specs": { "thread": "M5x0.8", "length_mm": 140.0, "head_d_mm": 8.5, "head_height_mm": 5.0, "mass_g": 22.724, "mass_basis": "CAD volume x density 7.85 g/cm3 (estimate)", "material": "Black-Oxide Alloy Steel", "mcmaster": { "raw": { "Thread Size": "M5 × 0.8 mm", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Thread Fit": "Metric Class 5g6g", "Thread Direction": "Right Hand", "Socket Head Profile": "Standard", "Fastener Head Type": "Socket", "Drive Style": "Hex", "Length": "140 mm", "Head Diameter": "8.5 mm", "Head Height": "5 mm", "Threading": "Partially Threaded", "Tensile Strength": "170,000 psi", "Fastener Strength Grade/Class": "Class 12.9", "Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "Drive Size": "4 mm", "Hardness": "Rockwell C41", "Material": "Black-Oxide Alloy Steel", "Minimum Thread Length": "22 mm", "Performance": "High Strength", "Specifications Met": "DIN 912, ISO 4762", "System of Measurement": "Metric", "Tip Type": "Flat", "Country of Origin": "United States, Belgium, Canada, China, France, Germany, India, Indonesia, Italy, Japan, Malaysia, Mexico, Philippines, Poland, South Korea, Switzerland, Taiwan, Thailand, Vietnam", "DFARS Compliance": "Not Specialty Metals Compliant", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731815.9000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "Thread Size": { "thread": "M5x0.8", "d": 5.0, "pitch": 0.8, "unit": "mm" }, "Length": { "value": 140.0, "unit": "mm" }, "Head Diameter": { "value": 8.5, "unit": "mm" }, "Head Height": { "value": 5.0, "unit": "mm" }, "Tensile Strength": { "value": 1172.1092, "unit": "MPa" }, "Drive Size": { "value": 4.0, "unit": "mm" }, "Minimum Thread Length": { "value": 22.0, "unit": "mm" } } } }, "cad": { "file": "references/vendor/mcmaster/91290A142/91290A142.norm.step", "kind": "screw", "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "available": true, "step_url": "https://www.mcmaster.com/91290A142/", "bbox_mm": { "min": [ -4.25, -4.25, -140.0 ], "max": [ 4.25, 4.25, 5.0 ], "size": [ 8.5, 8.5, 145.0 ] }, "volume_mm3": 2894.715 }, "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "sources": [ "https://www.mcmaster.com/91290A142/" ], "confidence": "product page", "used_for": "post through-bolts: plate 24.1 + spacers 75 + plate 24.1 + 2 washers + nyloc nut", "qty_per_robot": 6 }, { "id": "mcmaster-94645a102", "key": "nut_m5_nyloc", "category": "fastener", "vendor": "McMaster-Carr", "model": "94645A102", "name": "High-Strength Steel Nylon-Insert Locknut, Zinc Plated, M5 x 0.8 mm Thread Size", "price_usd": 0.1566, "price_note": "McMaster-Carr: $15.66 per pack of 100 (price_usd is per piece)", "price_checked": "2026-10-27", "pack_qty": 100, "pack_price_usd": 15.66, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/94645A102/", "in_stock": null, "ships_from": "US" } ], "specs": { "width_mm": 8.0, "height_mm": 5.0, "thread": "M5", "mass_g": 1.308, "mass_basis": "CAD volume x density 7.1 g/cm3 (estimate)", "material": "Zinc-Plated Steel", "mcmaster": { "raw": { "Thread Direction": "Right Hand", "Hex Nut Profile": "Standard", "Locking Type": "Nylon Insert", "Fastener Strength Rating": "High", "Finished Material": "Zinc-Plated Steel", "Thread Size": "M5", "Thread Pitch": "0.8 mm", "Width": "8 mm", "Height": "5 mm", "Fastener Strength Grade/Class": "Class 10", "Insert Maximum Temperature": "185° F", "Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "Drive Style": "External Hex", "Nut Type": "Hex, Locknut", "Performance": "Vibration Resistant, High Strength", "Specifications Met": "DIN 985", "System of Measurement": "Metric", "Thread Fit": "Metric Class 6H", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Country of Origin": "United States, Belgium, Canada, China, France, Germany, India, Indonesia, Italy, Japan, Malaysia, Mexico, Philippines, Poland, South Korea, Switzerland, Taiwan, Thailand, Vietnam", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731816.0000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "Thread Pitch": { "value": 0.8, "unit": "mm" }, "Width": { "value": 8.0, "unit": "mm" }, "Height": { "value": 5.0, "unit": "mm" }, "Insert Maximum Temperature": { "value": 85.0, "unit": "degC" } } } }, "cad": { "file": "references/vendor/mcmaster/94645A102/94645A102.norm.step", "kind": "nut", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/94645A102/", "bbox_mm": { "min": [ -4.594, -4.0, 0.0 ], "max": [ 4.5941, 4.0, 5.0 ], "size": [ 9.1881, 8.0, 5.0 ] }, "volume_mm3": 184.246 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/94645A102/" ], "confidence": "product page", "used_for": "post through-bolt nuts", "qty_per_robot": 6 }, { "id": "mcmaster-91290a252", "key": "screw_m5x25", "category": "fastener", "vendor": "McMaster-Carr", "model": "91290A252", "name": "Black-Oxide Alloy Steel Socket Head Screw, US Origin, M5 x 0.8 mm Thread Size, 25 mm Long", "price_usd": 0.2192, "price_note": "McMaster-Carr: $10.96 per pack of 50 (price_usd is per piece)", "price_checked": "2026-10-27", "pack_qty": 50, "pack_price_usd": 10.96, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/91290A252/", "in_stock": null, "ships_from": "US" } ], "specs": { "thread": "M5x0.8", "length_mm": 25.0, "head_d_mm": 8.5, "head_height_mm": 5.0, "mass_g": 5.02, "mass_basis": "unknown", "material": "Black-Oxide Alloy Steel", "mcmaster": { "raw": { "Thread Size": "M5 × 0.8 mm", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Thread Fit": "Metric Class 5g6g", "Thread Direction": "Right Hand", "Socket Head Profile": "Standard", "Fastener Head Type": "Socket", "Drive Style": "Hex", "Length": "25 mm", "Head Diameter": "8.5 mm", "Head Height": "5 mm", "Threading": "Fully Threaded", "Tensile Strength": "170,000 psi", "Fastener Strength Grade/Class": "Class 12.9", "Drive Size": "4 mm", "Hardness": "Rockwell C41", "Material": "Black-Oxide Alloy Steel", "Performance": "High Strength", "Specifications Met": "DIN 912, ISO 4762", "System of Measurement": "Metric", "Tip Type": "Flat", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals Compliant (252.225-7009)", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "Not Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731815.9000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes" }, "parsed": { "Thread Size": { "thread": "M5x0.8", "d": 5.0, "pitch": 0.8, "unit": "mm" }, "Length": { "value": 25.0, "unit": "mm" }, "Head Diameter": { "value": 8.5, "unit": "mm" }, "Head Height": { "value": 5.0, "unit": "mm" }, "Tensile Strength": { "value": 1172.1092, "unit": "MPa" }, "Drive Size": { "value": 4.0, "unit": "mm" } } }, "mass_note": "interpolated between the M5 x 20 (4.23 g) and M5 x 30 (5.80 g) pages: the page lists no weight" }, "cad": { "file": null, "kind": "screw", "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "available": true, "step_url": "https://www.mcmaster.com/91290A252/", "bbox_mm": null, "volume_mm3": null, "pending": "STEP not downloaded yet: McMaster-Carr asks for a login before CAD downloads (the product page itself reads without one). Finish with .venv/bin/python tools/mcmaster_cad.py --catalog --only screw_m5x25 once logged in, or save the STEP from a logged-in browser as references/vendor/mcmaster/91290A252/91290A252.step and run the same command." }, "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "sources": [ "https://www.mcmaster.com/91290A252/" ], "confidence": "product page", "used_for": "motor output (RS-04: 9 per adapter x 4) through the CNC output adapter into the motor's output flange; heads in Ø10 pockets 0.6 mm below the standard face, 6 mm into the motor's 6.5 mm threads", "qty_per_robot": 36, "notes": "replaces screw_m5x30 on the motor outputs (2026-10-27): the heads must sit below the AO face, which the 30 mm screws cannot without bottoming in the motor" }, { "id": "mcmaster-91290a254", "key": "screw_m5x30", "category": "fastener", "vendor": "McMaster-Carr", "model": "91290A254", "name": "Black-Oxide Alloy Steel Socket Head Screw, US Origin, M5 x 0.8 mm Thread Size, 30 mm Long", "price_usd": 0.2386, "price_note": "McMaster-Carr: $11.93 per pack of 50 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 50, "pack_price_usd": 11.93, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/91290A254/", "in_stock": null, "ships_from": "US" } ], "specs": { "thread": "M5x0.8", "length_mm": 30.0, "head_d_mm": 8.5, "head_height_mm": 5.0, "mass_g": 5.801, "mass_basis": "CAD volume x density 7.85 g/cm3 (estimate)", "material": "Black-Oxide Alloy Steel", "mcmaster": { "raw": { "Thread Size": "M5 × 0.8 mm", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Thread Fit": "Metric Class 5g6g", "Thread Direction": "Right Hand", "Socket Head Profile": "Standard", "Fastener Head Type": "Socket", "Drive Style": "Hex", "Length": "30 mm", "Head Diameter": "8.5 mm", "Head Height": "5 mm", "Threading": "Partially Threaded", "Tensile Strength": "170,000 psi", "Fastener Strength Grade/Class": "Class 12.9", "Drive Size": "4 mm", "Hardness": "Rockwell C41", "Material": "Black-Oxide Alloy Steel", "Minimum Thread Length": "22 mm", "Performance": "High Strength", "Specifications Met": "DIN 912, ISO 4762", "System of Measurement": "Metric", "Tip Type": "Flat", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals Compliant (252.225-7009)", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "Not Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731815.9000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes" }, "parsed": { "Thread Size": { "thread": "M5x0.8", "d": 5.0, "pitch": 0.8, "unit": "mm" }, "Length": { "value": 30.0, "unit": "mm" }, "Head Diameter": { "value": 8.5, "unit": "mm" }, "Head Height": { "value": 5.0, "unit": "mm" }, "Tensile Strength": { "value": 1172.1092, "unit": "MPa" }, "Drive Size": { "value": 4.0, "unit": "mm" }, "Minimum Thread Length": { "value": 22.0, "unit": "mm" } } } }, "cad": { "file": "references/vendor/mcmaster/91290A254/91290A254.norm.step", "kind": "screw", "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "available": true, "step_url": "https://www.mcmaster.com/91290A254/", "bbox_mm": { "min": [ -4.25, -4.25, -30.0 ], "max": [ 4.25, 4.25, 5.0 ], "size": [ 8.5, 8.5, 35.0 ] }, "volume_mm3": 739.009 }, "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "sources": [ "https://www.mcmaster.com/91290A254/" ], "confidence": "product page", "used_for": "spare: was the motor output screw while the adapters were printed (now screw_m5x25)", "qty_per_robot": 0, "notes": "Seat at z 23.1 (counterbore 4.5 deep in a 27.6 adapter) + ISO 7089 washer 1.0 -> 5.9 mm into the motor (6.5 min thread)." }, { "id": "mcmaster-91290a660", "key": "screw_m5x22", "category": "fastener", "vendor": "McMaster-Carr", "model": "91290A660", "name": "Black-Oxide Alloy Steel Socket Head Screw, M5 x 0.8 mm Thread Size, 22 mm Long, Fully Threaded", "price_usd": 0.1116, "price_note": "McMaster-Carr: $5.58 per pack of 50 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 50, "pack_price_usd": 5.58, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/91290A660/", "in_stock": null, "ships_from": "US" } ], "specs": { "thread": "M5x0.8", "length_mm": 22.0, "head_d_mm": 8.5, "head_height_mm": 5.0, "mass_g": 4.653, "mass_basis": "CAD volume x density 7.85 g/cm3 (estimate)", "material": "Black-Oxide Alloy Steel", "mcmaster": { "raw": { "Thread Size": "M5 × 0.8 mm", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Thread Fit": "Metric Class 5g6g", "Thread Direction": "Right Hand", "Socket Head Profile": "Standard", "Fastener Head Type": "Socket", "Drive Style": "Hex", "Length": "22 mm", "Head Diameter": "8.5 mm", "Head Height": "5 mm", "Threading": "Fully Threaded", "Tensile Strength": "170,000 psi", "Fastener Strength Grade/Class": "Class 12.9", "Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "Drive Size": "4 mm", "Hardness": "Rockwell C39", "Material": "Black-Oxide Alloy Steel", "Performance": "High Strength", "Specifications Met": "DIN 912, ISO 4762", "System of Measurement": "Metric", "Tip Type": "Flat", "Country of Origin": "United States, Belgium, Canada, China, France, Germany, India, Indonesia, Italy, Japan, Malaysia, Mexico, Philippines, Poland, South Korea, Switzerland, Taiwan, Thailand, Vietnam", "DFARS Compliance": "Not Specialty Metals Compliant", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731815.9000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "Thread Size": { "thread": "M5x0.8", "d": 5.0, "pitch": 0.8, "unit": "mm" }, "Length": { "value": 22.0, "unit": "mm" }, "Head Diameter": { "value": 8.5, "unit": "mm" }, "Head Height": { "value": 5.0, "unit": "mm" }, "Tensile Strength": { "value": 1172.1092, "unit": "MPa" }, "Drive Size": { "value": 4.0, "unit": "mm" } } } }, "cad": { "file": "references/vendor/mcmaster/91290A660/91290A660.norm.step", "kind": "screw", "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "available": true, "step_url": "https://www.mcmaster.com/91290A660/", "bbox_mm": { "min": [ -4.25, -4.25, -22.0 ], "max": [ 4.25, 4.25, 5.0 ], "size": [ 8.5, 8.5, 27.0 ] }, "volume_mm3": 592.689 }, "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "sources": [ "https://www.mcmaster.com/91290A660/" ], "confidence": "product page", "used_for": "knee crank onto the knee AO face (8 per crank x 2)", "qty_per_robot": 16, "notes": "Crank 14 + DIN 9021 1.2 -> 6.8 mm into the insert (pilot 10)." }, { "id": "mcmaster-91290a242", "key": "screw_m5x20", "category": "fastener", "vendor": "McMaster-Carr", "model": "91290A242", "name": "Black-Oxide Alloy Steel Socket Head Screw, US Origin, M5 x 0.8 mm Thread Size, 20 mm Long", "price_usd": 0.1751, "price_note": "McMaster-Carr: $17.51 per pack of 100 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 100, "pack_price_usd": 17.51, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/91290A242/", "in_stock": null, "ships_from": "US" } ], "specs": { "thread": "M5x0.8", "length_mm": 20.0, "head_d_mm": 8.5, "head_height_mm": 5.0, "mass_g": 4.229, "mass_basis": "CAD volume x density 7.85 g/cm3 (estimate)", "material": "Black-Oxide Alloy Steel", "mcmaster": { "raw": { "Thread Size": "M5 × 0.8 mm", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Thread Fit": "Metric Class 5g6g", "Thread Direction": "Right Hand", "Socket Head Profile": "Standard", "Fastener Head Type": "Socket", "Drive Style": "Hex", "Length": "20 mm", "Head Diameter": "8.5 mm", "Head Height": "5 mm", "Threading": "Fully Threaded", "Tensile Strength": "170,000 psi", "Fastener Strength Grade/Class": "Class 12.9", "Drive Size": "4 mm", "Hardness": "Rockwell C41", "Material": "Black-Oxide Alloy Steel", "Performance": "High Strength", "Specifications Met": "DIN 912, ISO 4762", "System of Measurement": "Metric", "Tip Type": "Flat", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals Compliant (252.225-7009)", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731815.9000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes" }, "parsed": { "Thread Size": { "thread": "M5x0.8", "d": 5.0, "pitch": 0.8, "unit": "mm" }, "Length": { "value": 20.0, "unit": "mm" }, "Head Diameter": { "value": 8.5, "unit": "mm" }, "Head Height": { "value": 5.0, "unit": "mm" }, "Tensile Strength": { "value": 1172.1092, "unit": "MPa" }, "Drive Size": { "value": 4.0, "unit": "mm" } } } }, "cad": { "file": "references/vendor/mcmaster/91290A242/91290A242.norm.step", "kind": "screw", "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "available": true, "step_url": "https://www.mcmaster.com/91290A242/", "bbox_mm": { "min": [ -4.25, -4.25, -20.0 ], "max": [ 4.25, 4.25, 5.0 ], "size": [ 8.5, 8.5, 25.0 ] }, "volume_mm3": 538.717 }, "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "sources": [ "https://www.mcmaster.com/91290A242/" ], "confidence": "product page", "used_for": "thigh onto the hip AO face (8 per thigh x 2)", "qty_per_robot": 16, "notes": "Thigh face 10 + ISO 7089 1.0 -> 9.0 mm into the insert (pilot 10)." }, { "id": "mcmaster-91290a232", "key": "screw_m5x16", "category": "fastener", "vendor": "McMaster-Carr", "model": "91290A232", "name": "Black-Oxide Alloy Steel Socket Head Screw, US Origin, M5 x 0.8 mm Thread Size, 16 mm Long", "price_usd": 0.1727, "price_note": "McMaster-Carr: $17.27 per pack of 100 (price_usd is per piece)", "price_checked": "2026-10-27", "pack_qty": 100, "pack_price_usd": 17.27, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/91290A232/", "in_stock": null, "ships_from": "US" } ], "specs": { "thread": "M5x0.8", "length_mm": 16.0, "head_d_mm": 8.5, "head_height_mm": 5.0, "mass_g": 3.731, "mass_basis": "CAD volume x density 7.85 g/cm3 (estimate)", "material": "Black-Oxide Alloy Steel", "mcmaster": { "raw": { "Thread Size": "M5 × 0.8 mm", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Thread Fit": "Metric Class 5g6g", "Thread Direction": "Right Hand", "Socket Head Profile": "Standard", "Fastener Head Type": "Socket", "Drive Style": "Hex", "Length": "16 mm", "Head Diameter": "8.5 mm", "Head Height": "5 mm", "Threading": "Fully Threaded", "Tensile Strength": "170,000 psi", "Fastener Strength Grade/Class": "Class 12.9", "Drive Size": "4 mm", "Hardness": "Rockwell C41", "Material": "Black-Oxide Alloy Steel", "Performance": "High Strength", "Specifications Met": "DIN 912, ISO 4762", "System of Measurement": "Metric", "Tip Type": "Flat", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals Compliant (252.225-7009)", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "Not Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731815.9000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes" }, "parsed": { "Thread Size": { "thread": "M5x0.8", "d": 5.0, "pitch": 0.8, "unit": "mm" }, "Length": { "value": 16.0, "unit": "mm" }, "Head Diameter": { "value": 8.5, "unit": "mm" }, "Head Height": { "value": 5.0, "unit": "mm" }, "Tensile Strength": { "value": 1172.1092, "unit": "MPa" }, "Drive Size": { "value": 4.0, "unit": "mm" } } } }, "cad": { "file": "references/vendor/mcmaster/91290A232/91290A232.norm.step", "kind": "screw", "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "available": true, "step_url": "https://www.mcmaster.com/91290A232/", "bbox_mm": { "min": [ -4.25, -4.25, -16.0 ], "max": [ 4.25, 4.25, 5.0 ], "size": [ 8.5, 8.5, 21.0 ] }, "volume_mm3": 475.279 }, "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "sources": [ "https://www.mcmaster.com/91290A232/" ], "confidence": "product page", "used_for": "yoke drop walls into the plate-tab inserts (3 x 4) and the wheel adapter into the shin (6 x 2)", "qty_per_robot": 24, "notes": "Yoke: wall 8 + DIN 9021 1.2 -> 6.8 mm; wheel adapter: 6.5 under the counterbore + ISO 7089 1.0 -> 8.5 mm (pilot 12)." }, { "id": "mcmaster-91290a168", "key": "screw_m4x20", "category": "fastener", "vendor": "McMaster-Carr", "model": "91290A168", "name": "Black-Oxide Alloy Steel Socket Head Screw, US Origin, M4 x 0.7 mm Thread Size, 20 mm Long", "price_usd": 0.1447, "price_note": "McMaster-Carr: $14.47 per pack of 100 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 100, "pack_price_usd": 14.47, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/91290A168/", "in_stock": null, "ships_from": "US" } ], "specs": { "thread": "M4x0.7", "length_mm": 20.0, "head_d_mm": 7.0, "head_height_mm": 4.0, "mass_g": 2.543, "mass_basis": "CAD volume x density 7.85 g/cm3 (estimate)", "material": "Black-Oxide Alloy Steel", "mcmaster": { "raw": { "Thread Size": "M4 × 0.7 mm", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Thread Fit": "Metric Class 5g6g", "Thread Direction": "Right Hand", "Socket Head Profile": "Standard", "Fastener Head Type": "Socket", "Drive Style": "Hex", "Length": "20 mm", "Head Diameter": "7 mm", "Head Height": "4 mm", "Threading": "Fully Threaded", "Tensile Strength": "170,000 psi", "Fastener Strength Grade/Class": "Class 12.9", "Drive Size": "3 mm", "Hardness": "Rockwell C41", "Material": "Black-Oxide Alloy Steel", "Performance": "High Strength", "Specifications Met": "DIN 912, ISO 4762", "System of Measurement": "Metric", "Tip Type": "Flat", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals Compliant (252.225-7009)", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "Not Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731815.9000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes" }, "parsed": { "Thread Size": { "thread": "M4x0.7", "d": 4.0, "pitch": 0.7, "unit": "mm" }, "Length": { "value": 20.0, "unit": "mm" }, "Head Diameter": { "value": 7.0, "unit": "mm" }, "Head Height": { "value": 4.0, "unit": "mm" }, "Tensile Strength": { "value": 1172.1092, "unit": "MPa" }, "Drive Size": { "value": 3.0, "unit": "mm" } } } }, "cad": { "file": "references/vendor/mcmaster/91290A168/91290A168.norm.step", "kind": "screw", "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "available": true, "step_url": "https://www.mcmaster.com/91290A168/", "bbox_mm": { "min": [ -3.5, -3.5, -20.0 ], "max": [ 3.5, 3.5, 4.0 ], "size": [ 7.0, 7.0, 24.0 ] }, "volume_mm3": 323.94 }, "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "sources": [ "https://www.mcmaster.com/91290A168/" ], "confidence": "product page", "used_for": "motor plate onto the RS-04 output-side case lugs (10 x M4 per motor x 4)", "qty_per_robot": 40, "notes": "Needs the plate counterbore 8.0 deep (CAD has 4.5): then 4.4 mm into the 5 mm-min lug thread. With 4.5 no stock length fits (M4x25 bottoms, M4x22 engages 2.4 mm)." }, { "id": "mcmaster-91290a334", "key": "screw_m6x35", "category": "fastener", "vendor": "McMaster-Carr", "model": "91290A334", "name": "Black-Oxide Alloy Steel Socket Head Screw, US Origin, M6 x 1 mm Thread Size, 35 mm Long", "price_usd": 0.2422, "price_note": "McMaster-Carr: $12.11 per pack of 50 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 50, "pack_price_usd": 12.11, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/91290A334/", "in_stock": null, "ships_from": "US" } ], "specs": { "thread": "M6x1", "length_mm": 35.0, "head_d_mm": 10.0, "head_height_mm": 6.0, "mass_g": 9.629, "mass_basis": "CAD volume x density 7.85 g/cm3 (estimate)", "material": "Black-Oxide Alloy Steel", "mcmaster": { "raw": { "Thread Size": "M6 × 1 mm", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Thread Fit": "Metric Class 5g6g", "Thread Direction": "Right Hand", "Socket Head Profile": "Standard", "Fastener Head Type": "Socket", "Drive Style": "Hex", "Length": "35 mm", "Head Diameter": "10 mm", "Head Height": "6 mm", "Threading": "Partially Threaded", "Tensile Strength": "170,000 psi", "Fastener Strength Grade/Class": "Class 12.9", "Drive Size": "5 mm", "Hardness": "Rockwell C41", "Material": "Black-Oxide Alloy Steel", "Minimum Thread Length": "24 mm", "Performance": "High Strength", "Specifications Met": "DIN 912, ISO 4762", "System of Measurement": "Metric", "Tip Type": "Flat", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals Compliant (252.225-7009)", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "Not Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731815.9000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes" }, "parsed": { "Thread Size": { "thread": "M6x1", "d": 6.0, "pitch": 1.0, "unit": "mm" }, "Length": { "value": 35.0, "unit": "mm" }, "Head Diameter": { "value": 10.0, "unit": "mm" }, "Head Height": { "value": 6.0, "unit": "mm" }, "Tensile Strength": { "value": 1172.1092, "unit": "MPa" }, "Drive Size": { "value": 5.0, "unit": "mm" }, "Minimum Thread Length": { "value": 24.0, "unit": "mm" } } } }, "cad": { "file": "references/vendor/mcmaster/91290A334/91290A334.norm.step", "kind": "screw", "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "available": true, "step_url": "https://www.mcmaster.com/91290A334/", "bbox_mm": { "min": [ -5.0, -5.0, -35.0 ], "max": [ 5.0, 5.0, 6.0 ], "size": [ 10.0, 10.0, 41.0 ] }, "volume_mm3": 1226.587 }, "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "sources": [ "https://www.mcmaster.com/91290A334/" ], "confidence": "product page", "used_for": "HM: yoke wall flange to the chassis wall (6 per side), nyloc nut inside", "qty_per_robot": 12, "notes": "Yoke 8 + chassis pad 12 + 2 x DIN 9021 1.6 + nut 6 -> 3.8 mm past the nut." }, { "id": "mcmaster-91290a667", "key": "screw_m6x16", "category": "fastener", "vendor": "McMaster-Carr", "model": "91290A667", "name": "Black-Oxide Alloy Steel Socket Head Screw, M6 x 1 mm Thread Size, 16 mm Long, Fully Threaded", "price_usd": 0.0859, "price_note": "McMaster-Carr: $8.59 per pack of 100 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 100, "pack_price_usd": 8.59, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/91290A667/", "in_stock": null, "ships_from": "US" } ], "specs": { "thread": "M6x1", "length_mm": 16.0, "head_d_mm": 10.0, "head_height_mm": 6.0, "mass_g": 5.963, "mass_basis": "CAD volume x density 7.85 g/cm3 (estimate)", "material": "Black-Oxide Alloy Steel", "mcmaster": { "raw": { "Thread Size": "M6 × 1 mm", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Thread Fit": "Metric Class 5g6g", "Thread Direction": "Right Hand", "Socket Head Profile": "Standard", "Fastener Head Type": "Socket", "Drive Style": "Hex", "Length": "16 mm", "Head Diameter": "10 mm", "Head Height": "6 mm", "Threading": "Fully Threaded", "Tensile Strength": "170,000 psi", "Fastener Strength Grade/Class": "Class 12.9", "Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "Drive Size": "5 mm", "Hardness": "Rockwell C39", "Material": "Black-Oxide Alloy Steel", "Performance": "High Strength", "Specifications Met": "DIN 912, ISO 4762", "System of Measurement": "Metric", "Tip Type": "Flat", "Country of Origin": "United States, Belgium, Canada, China, France, Germany, India, Indonesia, Italy, Japan, Malaysia, Mexico, Philippines, Poland, South Korea, Switzerland, Taiwan, Thailand, Vietnam", "DFARS Compliance": "Not Specialty Metals Compliant", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731815.9000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "Thread Size": { "thread": "M6x1", "d": 6.0, "pitch": 1.0, "unit": "mm" }, "Length": { "value": 16.0, "unit": "mm" }, "Head Diameter": { "value": 10.0, "unit": "mm" }, "Head Height": { "value": 6.0, "unit": "mm" }, "Tensile Strength": { "value": 1172.1092, "unit": "MPa" }, "Drive Size": { "value": 5.0, "unit": "mm" } } } }, "cad": { "file": "references/vendor/mcmaster/91290A667/91290A667.norm.step", "kind": "screw", "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "available": true, "step_url": "https://www.mcmaster.com/91290A667/", "bbox_mm": { "min": [ -5.0, -5.0, -16.0 ], "max": [ 5.0, 5.0, 6.0 ], "size": [ 10.0, 10.0, 22.0 ] }, "volume_mm3": 759.562 }, "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "sources": [ "https://www.mcmaster.com/91290A667/" ], "confidence": "product page", "used_for": "BotWheel stator flange (4 x M6 on PCD 36) through the wheel adapter", "qty_per_robot": 8, "notes": "Adapter 10 - 1.5 boss recess + DIN 9021 1.6 -> 5.9 mm into the wheel; BotWheel thread depth is not published." }, { "id": "mcmaster-91290a111", "key": "screw_m3x6", "category": "fastener", "vendor": "McMaster-Carr", "model": "91290A111", "name": "Black-Oxide Alloy Steel Socket Head Screw, US Origin, M3 x 0.5 mm Thread Size, 6 mm Long", "price_usd": 0.1159, "price_note": "McMaster-Carr: $11.59 per pack of 100 (price_usd is per piece)", "price_checked": "2026-10-27", "pack_qty": 100, "pack_price_usd": 11.59, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/91290A111/", "in_stock": null, "ships_from": "US" } ], "specs": { "thread": "M3x0.5", "length_mm": 6.0, "head_d_mm": 5.5, "head_height_mm": 3.0, "mass_g": 0.727, "mass_basis": "CAD volume x density 7.85 g/cm3 (estimate)", "material": "Black-Oxide Alloy Steel", "mcmaster": { "raw": { "Thread Size": "M3 × 0.5 mm", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Thread Fit": "Metric Class 5g6g", "Thread Direction": "Right Hand", "Socket Head Profile": "Standard", "Fastener Head Type": "Socket", "Drive Style": "Hex", "Length": "6 mm", "Head Diameter": "5.5 mm", "Head Height": "3 mm", "Threading": "Fully Threaded", "Tensile Strength": "170,000 psi", "Fastener Strength Grade/Class": "Class 12.9", "Drive Size": "2.5 mm", "Hardness": "Rockwell C41", "Material": "Black-Oxide Alloy Steel", "Performance": "High Strength", "Specifications Met": "DIN 912, ISO 4762", "System of Measurement": "Metric", "Tip Type": "Flat", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals Compliant (252.225-7009)", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "Not Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731815.9000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes" }, "parsed": { "Thread Size": { "thread": "M3x0.5", "d": 3.0, "pitch": 0.5, "unit": "mm" }, "Length": { "value": 6.0, "unit": "mm" }, "Head Diameter": { "value": 5.5, "unit": "mm" }, "Head Height": { "value": 3.0, "unit": "mm" }, "Tensile Strength": { "value": 1172.1092, "unit": "MPa" }, "Drive Size": { "value": 2.5, "unit": "mm" } } } }, "cad": { "file": "references/vendor/mcmaster/91290A111/91290A111.norm.step", "kind": "screw", "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "available": true, "step_url": "https://www.mcmaster.com/91290A111/", "bbox_mm": { "min": [ -2.75, -2.75, -6.0 ], "max": [ 2.75, 2.75, 3.0 ], "size": [ 5.5, 5.5, 9.0 ] }, "volume_mm3": 92.642 }, "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "sources": [ "https://www.mcmaster.com/91290A111/" ], "confidence": "product page", "used_for": "61812 retainers (3 per plate x 4) into M3 inserts", "qty_per_robot": 12, "notes": "Washer 0.8 -> 5.2 mm into the insert (pilot 6)." }, { "id": "mcmaster-93475a240", "key": "washer_m5", "category": "fastener", "vendor": "McMaster-Carr", "model": "93475A240", "name": "18-8 Stainless Steel General Purpose Washer, for M5 Screw Size, 5.3 mm ID, 10.0 mm OD", "price_usd": 0.0424, "price_note": "McMaster-Carr: $4.24 per pack of 100 (price_usd is per piece)", "price_checked": "2026-10-27", "pack_qty": 100, "pack_price_usd": 4.24, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/93475A240/", "in_stock": null, "ships_from": "US" } ], "specs": { "id_mm": 5.3, "od_mm": 10.0, "mass_g": 0.451, "mass_basis": "CAD volume x density 8.0 g/cm3 (estimate)", "material": "18-8 Stainless Steel", "mcmaster": { "raw": { "Washer Designation": "General Purpose", "Material": "18-8 Stainless Steel", "For Screw Size": "M5", "ID": "5.3 mm", "OD": "10.0 mm", "Thickness": "0.9 mm to 1.1 mm", "Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "Hardness": "Not Rated", "Performance": "Corrosion Resistant", "Specifications Met": "DIN 125, ISO 7089", "System of Measurement": "Metric", "Washer Type": "Flat", "Country of Origin": "China", "DFARS Compliance": "Not Specialty Metals Compliant", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (06/25/2025, 250 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731822.0000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "ID": { "value": 5.3, "unit": "mm" }, "OD": { "value": 10.0, "unit": "mm" }, "Thickness": { "min": 0.9, "max": 1.1, "unit": "mm" } } } }, "cad": { "file": "references/vendor/mcmaster/93475A240/93475A240.norm.step", "kind": "washer", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/93475A240/", "bbox_mm": { "min": [ -5.0, -5.0, 0.0 ], "max": [ 5.0, 5.0, 1.0 ], "size": [ 10.0, 10.0, 1.0 ] }, "volume_mm3": 56.404 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/93475A240/" ], "confidence": "product page", "used_for": "ISO 7089 M5 (OD 10): motor output screws (36, in the Ø10.1 counterbores), thigh face (16), wheel adapter (12)", "qty_per_robot": 64 }, { "id": "mcmaster-91116a140", "key": "washer_m5_large", "category": "fastener", "vendor": "McMaster-Carr", "model": "91116A140", "name": "18-8 Stainless Steel Oversized Washer, for M5 Screw, 5.3mm ID, 15.0mm OD, 1.0mm to 1.4mm Thick", "price_usd": 0.1547, "price_note": "McMaster-Carr: $15.47 per pack of 100 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 100, "pack_price_usd": 15.47, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/91116A140/", "in_stock": null, "ships_from": "US" } ], "specs": { "id_mm": 5.3, "od_mm": 15.0, "mass_g": 1.483, "mass_basis": "CAD volume x density 8.0 g/cm3 (estimate)", "material": "18-8 Stainless Steel", "mcmaster": { "raw": { "Washer Designation": "Oversized", "Material": "18-8 Stainless Steel", "For Screw Size": "M5", "ID": "5.3 mm", "OD": "15.0 mm", "Thickness": "1.0 mm to 1.4 mm", "Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "Hardness": "Rockwell B52", "Performance": "Corrosion Resistant", "Specifications Met": "DIN 9021", "System of Measurement": "Metric", "Washer Type": "Flat", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals Compliant (252.225-7009)", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731822.0000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes" }, "parsed": { "ID": { "value": 5.3, "unit": "mm" }, "OD": { "value": 15.0, "unit": "mm" }, "Thickness": { "min": 1.0, "max": 1.4, "unit": "mm" } } } }, "cad": { "file": "references/vendor/mcmaster/91116A140/91116A140.norm.step", "kind": "washer", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/91116A140/", "bbox_mm": { "min": [ -7.5, -7.5, 0.0 ], "max": [ 7.5, 7.5, 1.2 ], "size": [ 15.0, 15.0, 1.2 ] }, "volume_mm3": 185.429 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/91116A140/" ], "confidence": "product page", "used_for": "DIN 9021 M5 (OD 15) on plastic: knee crank (16), yoke drops (12), post through-bolts (12)", "qty_per_robot": 40 }, { "id": "mcmaster-91116a150", "key": "washer_m6_large", "category": "fastener", "vendor": "McMaster-Carr", "model": "91116A150", "name": "18-8 Stainless Steel Oversized Washer, for M6 Screw, 6.4mm ID, 18.0mm OD, 1.4mm to 1.8mm Thick", "price_usd": 0.294, "price_note": "McMaster-Carr: $14.70 per pack of 50 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 50, "pack_price_usd": 14.7, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/91116A150/", "in_stock": null, "ships_from": "US" } ], "specs": { "id_mm": 6.4, "od_mm": 18.0, "mass_g": 2.843, "mass_basis": "CAD volume x density 8.0 g/cm3 (estimate)", "material": "18-8 Stainless Steel", "mcmaster": { "raw": { "Washer Designation": "Oversized", "Material": "18-8 Stainless Steel", "For Screw Size": "M6", "ID": "6.4 mm", "OD": "18.0 mm", "Thickness": "1.4 mm to 1.8 mm", "Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "Hardness": "Rockwell B52", "Performance": "Corrosion Resistant", "Specifications Met": "DIN 9021", "System of Measurement": "Metric", "Washer Type": "Flat", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals Compliant (252.225-7009)", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "Not Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731822.0000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes" }, "parsed": { "ID": { "value": 6.4, "unit": "mm" }, "OD": { "value": 18.0, "unit": "mm" }, "Thickness": { "min": 1.4, "max": 1.8, "unit": "mm" } } } }, "cad": { "file": "references/vendor/mcmaster/91116A150/91116A150.norm.step", "kind": "washer", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/91116A150/", "bbox_mm": { "min": [ -9.0, -9.0, 0.0 ], "max": [ 9.0, 9.0, 1.6 ], "size": [ 18.0, 18.0, 1.6 ] }, "volume_mm3": 355.35 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/91116A150/" ], "confidence": "product page", "used_for": "DIN 9021 M6 (OD 18): HM both sides (24), BotWheel screws (8)", "qty_per_robot": 32 }, { "id": "mcmaster-91116a120", "key": "washer_m3_large", "category": "fastener", "vendor": "McMaster-Carr", "model": "91116A120", "name": "18-8 Stainless Steel Oversized Washer, for M3 Screw, 3.2mm ID, 9.0mm OD, 0.7mm to 0.9mm Thick", "price_usd": 0.0481, "price_note": "McMaster-Carr: $4.81 per pack of 100 (price_usd is per piece)", "price_checked": "2026-10-27", "pack_qty": 100, "pack_price_usd": 4.81, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/91116A120/", "in_stock": null, "ships_from": "US" } ], "specs": { "id_mm": 3.2, "od_mm": 9.0, "mass_g": 0.355, "mass_basis": "CAD volume x density 8.0 g/cm3 (estimate)", "material": "18-8 Stainless Steel", "mcmaster": { "raw": { "Washer Designation": "Oversized", "Material": "18-8 Stainless Steel", "For Screw Size": "M3", "ID": "3.2 mm", "OD": "9.0 mm", "Thickness": "0.7 mm to 0.9 mm", "Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "Hardness": "Rockwell B52", "Performance": "Corrosion Resistant", "Specifications Met": "DIN 9021", "System of Measurement": "Metric", "Washer Type": "Flat", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals Compliant (252.225-7009)", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731822.0000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes" }, "parsed": { "ID": { "value": 3.2, "unit": "mm" }, "OD": { "value": 9.0, "unit": "mm" }, "Thickness": { "min": 0.7, "max": 0.9, "unit": "mm" } } } }, "cad": { "file": "references/vendor/mcmaster/91116A120/91116A120.norm.step", "kind": "washer", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/91116A120/", "bbox_mm": { "min": [ -4.5, -4.5, 0.0 ], "max": [ 4.5, 4.5, 0.8 ], "size": [ 9.0, 9.0, 0.8 ] }, "volume_mm3": 44.419 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/91116A120/" ], "confidence": "product page", "used_for": "DIN 9021 M3 (OD 9) under the bearing-retainer screws", "qty_per_robot": 12 }, { "id": "mcmaster-94459a775", "key": "insert_m5", "category": "fastener", "vendor": "McMaster-Carr", "model": "94459A775", "name": "Heat-Set Threaded Inserts for Plastic, Standard, Brass, M5 x 0.8 mm Thread Size, 7.9 mm Installed Length", "price_usd": 0.2728, "price_note": "McMaster-Carr: $6.82 per pack of 25 (price_usd is per piece)", "price_checked": "2026-10-27", "pack_qty": 25, "pack_price_usd": 6.82, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/94459A775/", "in_stock": null, "ships_from": "US" } ], "specs": { "installed_length_mm": 7.9, "hole_mm": 6.4, "thread": "M5", "mass_g": 1.103, "mass_basis": "CAD volume x density 8.5 g/cm3 (estimate)", "material": "Brass", "mcmaster": { "raw": { "Threaded Insert Type": "Heat Set", "Profile": "Standard", "Material": "Brass", "Thread Size": "M5", "Thread Pitch": "0.8 mm", "Installed Length": "7.9 mm", "Drill Bit Size": "6.4 mm", "For Maximum Hole Diameter": "6.4 mm", "End Type": "Open", "For Minimum Material Thickness": "8.6 mm", "For Use In": "Plastic", "Performance": "Conductive, Corrosion Resistant, Nonmagnetic", "System of Measurement": "Metric", "Tensile Strength": "68,000 psi", "Thread Direction": "Right Hand", "Thread Fit": "Metric Class 4H", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Threaded Insert Securing Type": "Knurled", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant with Exemptions", "RoHS Exemptions": "6(c)", "Schedule B Number": "741539.0000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes", "Related Products": "Soldering Installation Tips" }, "parsed": { "Thread Pitch": { "value": 0.8, "unit": "mm" }, "Installed Length": { "value": 7.9, "unit": "mm" }, "Drill Bit Size": { "value": 6.4, "unit": "mm" }, "For Maximum Hole Diameter": { "value": 6.4, "unit": "mm" }, "For Minimum Material Thickness": { "value": 8.6, "unit": "mm" }, "Tensile Strength": { "value": 468.84368, "unit": "MPa" } } } }, "cad": { "file": "references/vendor/mcmaster/94459A775/94459A775.norm.step", "kind": "insert", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/94459A775/", "bbox_mm": { "min": [ -3.5561, -3.5561, 0.0 ], "max": [ 3.5561, 3.556, 7.874 ], "size": [ 7.1122, 7.1121, 7.874 ] }, "volume_mm3": 129.822 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/94459A775/" ], "confidence": "product page", "used_for": "M5 heat-set inserts: AO faces (8 x 4), plate tabs (3 x 4), shin WH face (6 x 2)", "qty_per_robot": 56, "notes": "Recommended hole 6.4 mm = interfaces.json M5 insert_pilot." }, { "id": "mcmaster-94459a140", "key": "insert_m3", "category": "fastener", "vendor": "McMaster-Carr", "model": "94459A140", "name": "Heat-Set Threaded Inserts for Plastic, Standard, Brass, M3 x 0.5 mm Thread Size, 5.7 mm Installed Length", "price_usd": 0.2182, "price_note": "McMaster-Carr: $10.91 per pack of 50 (price_usd is per piece)", "price_checked": "2026-10-27", "pack_qty": 50, "pack_price_usd": 10.91, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/94459A140/", "in_stock": null, "ships_from": "US" } ], "specs": { "installed_length_mm": 5.7, "thread": "M3", "mass_g": 0.358, "mass_basis": "CAD volume x density 8.5 g/cm3 (estimate)", "material": "Brass", "mcmaster": { "raw": { "Threaded Insert Type": "Heat Set", "Profile": "Standard", "Material": "Brass", "Thread Size": "M3", "Thread Pitch": "0.5 mm", "Installed Length": "5.7 mm", "Drill Bit Size": "22 Ga.", "For Maximum Hole Diameter": "4 mm", "End Type": "Open", "For Minimum Material Thickness": "6.5 mm", "For Use In": "Plastic", "Performance": "Conductive, Corrosion Resistant, Nonmagnetic", "System of Measurement": "Metric", "Tensile Strength": "Not Rated", "Thread Direction": "Right Hand", "Thread Fit": "Metric Class 6H", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Threaded Insert Securing Type": "Knurled", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant with Exemptions", "RoHS Exemptions": "6(c)", "Schedule B Number": "741539.0000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes", "Related Products": "Soldering Installation Tips" }, "parsed": { "Thread Pitch": { "value": 0.5, "unit": "mm" }, "Installed Length": { "value": 5.7, "unit": "mm" }, "For Maximum Hole Diameter": { "value": 4.0, "unit": "mm" }, "For Minimum Material Thickness": { "value": 6.5, "unit": "mm" } } } }, "cad": { "file": "references/vendor/mcmaster/94459A140/94459A140.norm.step", "kind": "insert", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/94459A140/", "bbox_mm": { "min": [ -2.36, -2.36, 0.0 ], "max": [ 2.36, 2.36, 5.74 ], "size": [ 4.72, 4.72, 5.74 ] }, "volume_mm3": 42.13 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/94459A140/" ], "confidence": "product page", "used_for": "M3 heat-set inserts for the bearing retainers", "qty_per_robot": 12, "notes": "Recommended hole 4.0 mm = interfaces.json M3 insert_pilot." }, { "id": "mcmaster-91595a352", "key": "dowel_5x16", "category": "fastener", "vendor": "McMaster-Carr", "model": "91595A352", "name": "Dowel Pin, 52100 Alloy Steel, 5 mm Diameter, 16 mm Long", "price_usd": 0.3844, "price_note": "McMaster-Carr: $19.22 per pack of 50 (price_usd is per piece)", "price_checked": "2026-10-27", "pack_qty": 50, "pack_price_usd": 19.22, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/91595A352/", "in_stock": null, "ships_from": "US" } ], "specs": { "d_mm": 5.0, "length_mm": 16.0, "mass_g": 2.336, "mass_basis": "CAD volume x density 7.85 g/cm3 (estimate)", "material": "Alloy Steel", "mcmaster": { "raw": { "Tolerance Rating": "Standard", "Fastener Head Type": "Plain", "Material": "Alloy Steel", "Diameter": "5 mm", "Diameter Tolerance": "0.004 mm to 0.012 mm", "Length": "16 mm", "Double Shear Breaking Strength": "Not Rated", "Minimum Hardness": "Rockwell C52", "Specifications Met": "DIN 6325-m6, ISO 8734", "Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "End Shape": "Round × Chamfer/Round", "End Type": "Plain", "Performance": "High Strength", "Pin Type": "Dowel", "Shaft Type": "Plain", "Steel Grade": "52100 Alloy Steel", "System of Measurement": "Metric", "Country of Origin": "United States, Belgium, Canada, China, France, Germany, India, Indonesia, Italy, Japan, Malaysia, Mexico, Philippines, Poland, South Korea, Switzerland, Taiwan, Thailand, Vietnam", "DFARS Compliance": "Not Specialty Metals Compliant", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731829.0000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "Diameter": { "value": 5.0, "unit": "mm" }, "Diameter Tolerance": { "min": 0.004, "max": 0.012, "unit": "mm" }, "Length": { "value": 16.0, "unit": "mm" } } } }, "cad": { "file": "references/vendor/mcmaster/91595A352/91595A352.norm.step", "kind": "pin", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/91595A352/", "bbox_mm": { "min": [ -2.5, -2.5, 0.0 ], "max": [ 2.5, 2.5, 16.0 ], "size": [ 5.0, 5.0, 16.0 ] }, "volume_mm3": 297.584 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/91595A352/" ], "confidence": "product page", "used_for": "the motors' Ø5 locating holes in the hip frame (2 per motor); the turret's motor mount", "qty_per_robot": 8 }, { "id": "mcmaster-91595a356", "key": "dowel_5x20", "category": "fastener", "vendor": "McMaster-Carr", "model": "91595A356", "name": "Dowel Pin, 52100 Alloy Steel, 5 mm Diameter, 20 mm Long", "price_usd": 0.4352, "price_note": "McMaster-Carr: $10.88 per pack of 25 (price_usd is per piece)", "price_checked": "2026-10-28", "pack_qty": 25, "pack_price_usd": 10.88, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/91595A356/", "in_stock": null, "ships_from": "US" } ], "specs": { "d_mm": 5.0, "length_mm": 20.0, "mass_g": 2.953, "mass_basis": "CAD volume x density 7.85 g/cm3 (estimate)", "material": "Alloy Steel", "mcmaster": { "raw": { "Tolerance Rating": "Standard", "Fastener Head Type": "Plain", "Material": "Alloy Steel", "Diameter": "5 mm", "Diameter Tolerance": "0.004 mm to 0.012 mm", "Length": "20 mm", "Double Shear Breaking Strength": "Not Rated", "Minimum Hardness": "Rockwell C52", "Specifications Met": "DIN 6325-m6, ISO 8734", "Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "End Shape": "Round × Chamfer/Round", "End Type": "Plain", "Performance": "High Strength", "Pin Type": "Dowel", "Shaft Type": "Plain", "Steel Grade": "52100 Alloy Steel", "System of Measurement": "Metric", "Country of Origin": "United States, Belgium, Canada, China, France, Germany, India, Indonesia, Italy, Japan, Malaysia, Mexico, Philippines, Poland, South Korea, Switzerland, Taiwan, Thailand, Vietnam", "DFARS Compliance": "Not Specialty Metals Compliant", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731829.0000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "Diameter": { "value": 5.0, "unit": "mm" }, "Diameter Tolerance": { "min": 0.004, "max": 0.012, "unit": "mm" }, "Length": { "value": 20.0, "unit": "mm" } } } }, "cad": { "file": "references/vendor/mcmaster/91595A356/91595A356.norm.step", "kind": "pin", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/91595A356/", "bbox_mm": { "min": [ -2.5, -2.5, 0.0 ], "max": [ 2.5, 2.5, 20.0 ], "size": [ 5.0, 5.0, 20.0 ] }, "volume_mm3": 376.124 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/91595A356/" ], "confidence": "product page", "used_for": "AO standard faces (output adapter to upper link): 2 per face x 4, pressed 8 deep into the adapter's H7 holes, 12 in the link (issue #5)", "qty_per_robot": 8, "notes": "The same pin as 91595A352 four mm longer: the link's dowel holes go through its 30 mm, so the extra length bears in the printed link (cad/leg_studies.py DOWEL_ENGAGED)." }, { "id": "mcmaster-91595a452", "key": "dowel_6x20", "category": "fastener", "vendor": "McMaster-Carr", "model": "91595A452", "name": "Dowel Pin, 52100 Alloy Steel, 6 mm Diameter, 20 mm Long", "price_usd": 0.5064, "price_note": "McMaster-Carr: $12.66 per pack of 25 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 25, "pack_price_usd": 12.66, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/91595A452/", "in_stock": null, "ships_from": "US" } ], "specs": { "d_mm": 6.0, "length_mm": 20.0, "mass_g": 4.214, "mass_basis": "CAD volume x density 7.85 g/cm3 (estimate)", "material": "Alloy Steel", "mcmaster": { "raw": { "Tolerance Rating": "Standard", "Fastener Head Type": "Plain", "Material": "Alloy Steel", "Diameter": "6 mm", "Diameter Tolerance": "0.004 mm to 0.012 mm", "Length": "20 mm", "Double Shear Breaking Strength": "Not Rated", "Minimum Hardness": "Rockwell C52", "Specifications Met": "DIN 6325-m6, ISO 8734", "Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "End Shape": "Round × Chamfer/Round", "End Type": "Plain", "Performance": "High Strength", "Pin Type": "Dowel", "Shaft Type": "Plain", "Steel Grade": "52100 Alloy Steel", "System of Measurement": "Metric", "Country of Origin": "United States, Belgium, Canada, China, France, Germany, India, Indonesia, Italy, Japan, Malaysia, Mexico, Philippines, Poland, South Korea, Switzerland, Taiwan, Thailand, Vietnam", "DFARS Compliance": "Not Specialty Metals Compliant", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731829.0000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "Diameter": { "value": 6.0, "unit": "mm" }, "Diameter Tolerance": { "min": 0.004, "max": 0.012, "unit": "mm" }, "Length": { "value": 20.0, "unit": "mm" } } } }, "cad": { "file": "references/vendor/mcmaster/91595A452/91595A452.norm.step", "kind": "pin", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/91595A452/", "bbox_mm": { "min": [ -3.0, -3.0, 0.0 ], "max": [ 3.0, 3.0, 20.0 ], "size": [ 6.0, 6.0, 20.0 ] }, "volume_mm3": 536.845 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/91595A452/" ], "confidence": "product page", "used_for": "HM: 2 per side through the yoke wall (8) into the chassis pad (12)", "qty_per_robot": 4 }, { "id": "mcmaster-9307k884", "key": "grommet_cable_pass", "category": "wiring", "vendor": "McMaster-Carr", "model": "9307K884", "name": "Buna-N Rubber Grommet, for 11/16\" Hole Diameter and 1/4\" Material Thickness, 7/16\" ID", "price_usd": 1.082, "price_note": "McMaster-Carr: $10.82 per pack of 10 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 10, "pack_price_usd": 10.82, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/9307K884/", "in_stock": null, "ships_from": "US" } ], "specs": { "hole_d_mm": 17.4625, "panel_thickness_mm": 6.35, "id_mm": 11.1125, "mass_g": 3.656, "mass_basis": "CAD volume x density 1.3 g/cm3 (estimate)", "material": "Buna-N", "mcmaster": { "raw": { "For Use With": "Wire, Cable, Cords", "Style": "1", "Material": "Buna-N", "For Hole Diameter": "11/16\"", "For Material Thickness": "1/4\"", "ID": "7/16\"", "Flange Diameter": "15/16\"", "Overall Height": "1/2\"", "Temperature": "0° F to 250° F", "For Use Outdoors": "No", "Color": "Black", "Military Specification": "AN931-C7-11, MIL-G-3036, MS35489-100, NASM3036", "Certification": "Mil. Spec.", "Hardness": "Durometer 50A", "Hardness Rating": "Medium", "Mount Type": "Push In", "Performance": "Oil Resistant", "Shape": "Round", "Country of Origin": "China", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "401699.6000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "For Hole Diameter": { "value": 17.4625, "unit": "mm" }, "For Material Thickness": { "value": 6.35, "unit": "mm" }, "ID": { "value": 11.1125, "unit": "mm" }, "Flange Diameter": { "value": 23.8125, "unit": "mm" }, "Overall Height": { "value": 12.7, "unit": "mm" }, "Temperature": { "min": -17.777778, "max": 121.111111, "unit": "degC" } } } }, "cad": { "file": "references/vendor/mcmaster/9307K884/9307K884.norm.step", "kind": "grommet", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/9307K884/", "bbox_mm": { "min": [ -11.9062, -11.9063, 0.0 ], "max": [ 11.9062, 11.9062, 12.7 ], "size": [ 23.8125, 23.8125, 12.7 ] }, "volume_mm3": 2812.65 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/9307K884/" ], "confidence": "product page", "used_for": "cable passes (CP) through the yoke wall and chassis side", "qty_per_robot": 4, "notes": "Grommets fit an 11/16 in (17.5 mm) hole in a panel up to 1/4 in (6.4 mm); the passes are 8 + 12 mm of printed wall, so they need a thinned land (or drop the grommets and round the 18 mm bores)." }, { "id": "mcmaster-92981a408", "key": "knee_pin_60", "category": "fastener", "vendor": "McMaster-Carr", "model": "92981A408", "name": "Alloy Steel Shoulder Screws, 12 mm Shoulder Diameter, 60 mm Shoulder Length, M10 x 1.5 mm Thread", "price_usd": 7.28, "price_note": "McMaster-Carr: $7.28 each (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 1, "pack_price_usd": 7.28, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/92981A408/", "in_stock": null, "ships_from": "US" } ], "specs": { "shoulder_d_mm": 12.0, "shoulder_length_mm": 60.0, "thread": "M10x1.5", "thread_length_mm": 16.0, "head_d_mm": 18.0, "head_height_mm": 9.0, "mass_g": 77.5, "mass_basis": "estimate (no CAD yet): 92981A411's CAD volume less 30 mm of 12 mm shoulder x 7.85 g/cm3", "material": "Black-Oxide Alloy Steel", "mcmaster": { "raw": { "Shoulder Fit": "Standard", "Thread Direction": "Right Hand", "Socket Head Profile": "Standard", "Fastener Head Type": "Socket", "Drive Style": "Hex", "Material": "Black-Oxide Alloy Steel", "Shoulder Diameter": "12 mm", "Shoulder Diameter Tolerance": "-0.072 mm to -0.01 mm", "Shoulder Length": "60 mm", "Shoulder Length Tolerance": "0 mm to 0.25 mm", "Thread Size": "M10 × 1.5 mm", "Thread Length": "16 mm", "Head Diameter": "18 mm", "Head Height": "9 mm", "Drive Size": "6 mm", "Tensile Strength": "140,000 psi", "Hardness": "Rockwell C32", "Head Texture": "Smooth", "Minimum Shear Strength": "84,000 psi", "Performance": "High Strength, Wear Resistant", "Relative Thread Length": "Standard", "Relative Thread Size": "Standard", "Specifications Met": "ISO 7379", "System of Measurement": "Metric", "Thread Fit": "Metric Class 5g6g", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals Compliant (252.225-7009)", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "Not Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731815.9000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes" }, "parsed": { "Shoulder Diameter": { "value": 12.0, "unit": "mm" }, "Shoulder Diameter Tolerance": { "min": -0.072, "max": -0.01, "unit": "mm" }, "Shoulder Length": { "value": 60.0, "unit": "mm" }, "Shoulder Length Tolerance": { "min": 0.0, "max": 0.25, "unit": "mm" }, "Thread Size": { "thread": "M10x1.5", "d": 10.0, "pitch": 1.5, "unit": "mm" }, "Thread Length": { "value": 16.0, "unit": "mm" }, "Head Diameter": { "value": 18.0, "unit": "mm" }, "Head Height": { "value": 9.0, "unit": "mm" }, "Drive Size": { "value": 6.0, "unit": "mm" }, "Tensile Strength": { "value": 965.2664, "unit": "MPa" }, "Minimum Shear Strength": { "value": 579.15984, "unit": "MPa" } } } }, "cad": { "file": null, "kind": "shoulder_screw", "frame": "axis +Z, centred on the axis, underside of the head at z = 0, head on +z, shoulder and thread towards -z", "available": true, "step_url": "https://www.mcmaster.com/92981A408/", "bbox_mm": null, "volume_mm3": null, "pending": "STEP not downloaded yet: on 2026-10-26 McMaster-Carr asked for a login before CAD downloads ('Please log in and reload the page to download CAD', then downloads cancelled). Finish with .venv/bin/python tools/mcmaster_cad.py --catalog --only knee_pin_60 stop_post insert_m8 washer_m12_thin knee_spacer screw_m6x40 (logged in, or once the anonymous limit resets), or save the STEP from a logged-in browser as references/vendor/mcmaster/92981A408/92981A408.step and run the same command offline." }, "frame": "axis +Z, centred on the axis, underside of the head at z = 0, head on +z, shoulder and thread towards -z", "sources": [ "https://www.mcmaster.com/92981A408/" ], "confidence": "product page", "used_for": "leg v2 knee joints (KC), one per knee: through the upper link, a washer, the lower link's two 6001s and their spacer, a washer", "qty_per_robot": 4, "notes": "Leg v2 now uses knee_pin_70 (92981A409, 12 x 70): the leg grew thicker (upper link 30, lower links 20 + 26, two 6201s per knee), so 60 no longer spans the knee stack; kept in the catalogue for reference. Earlier stack: Shoulder 60 = upper link 14 + washer 2 + 6001 8 + spacer 26 + 6001 8 + washer 2 (cad/fivebar.py stack). M10 x 16 thread into nut_m10_nyloc in the upper link's pocket (10 mm engaged). Same family as knee_pin (92981A411, 12 x 90), so leg v2 needs 4 M10 nylocs per robot (nut_m10_nyloc lists 2)." }, { "id": "mcmaster-98432a386", "key": "stop_pin", "category": "fastener", "vendor": "McMaster-Carr", "model": "98432A386", "name": "Vented Pull-Out Dowel Pin with Flat Shaft, High-Strength 52100 Alloy Steel, 16 mm Diameter, 40 mm Long", "price_usd": 5.88, "price_note": "McMaster-Carr: $5.88 each (price_usd is per piece)", "price_checked": "2026-10-27", "pack_qty": 1, "pack_price_usd": 5.88, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/98432A386/", "in_stock": null, "ships_from": "US" } ], "specs": { "d_mm": 16.0, "length_mm": 40.0, "thread": "M8x1.25", "mass_g": 52.748, "mass_basis": "CAD volume x density 7.85 g/cm3 (estimate)", "material": "Alloy Steel", "mcmaster": { "raw": { "Tolerance Rating": "Standard", "Construction": "Vented", "Removal Method": "Pull Out", "Fastener Head Type": "Tapped", "Shaft Type": "Flat", "Material": "Alloy Steel", "Diameter": "16 mm", "Diameter Tolerance": "0.007 mm to 0.018 mm", "Length": "40 mm", "Thread Size": "M8 × 1.25 mm", "Double Shear Breaking Strength": "33,500 lbf", "Minimum Hardness": "Rockwell C52", "Specifications Met": "DIN 7979D-m6", "End Shape": "Chamfer", "End Type": "Plain", "For Use With": "Blind Holes", "Performance": "High Strength, Easy Removal", "Pin Type": "Dowel", "Steel Grade": "52100 Alloy Steel", "System of Measurement": "Metric", "Country of Origin": "Belgium, Canada, China, France, Germany, India, Indonesia, Italy, Japan, Malaysia, Mexico, Philippines, Poland, South Korea, Switzerland, Taiwan, Thailand, Vietnam", "DFARS Compliance": "Not Specialty Metals Compliant", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731829.0000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No", "Related Products": "Puller Handle" }, "parsed": { "Diameter": { "value": 16.0, "unit": "mm" }, "Diameter Tolerance": { "min": 0.007, "max": 0.018, "unit": "mm" }, "Length": { "value": 40.0, "unit": "mm" }, "Thread Size": { "thread": "M8x1.25", "d": 8.0, "pitch": 1.25, "unit": "mm" }, "Double Shear Breaking Strength": { "value": 149015.4236, "unit": "N" } } } }, "cad": { "file": "references/vendor/mcmaster/98432A386/98432A386.norm.step", "kind": "pin", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/98432A386/", "bbox_mm": { "min": [ -8.0, -8.0, 0.0 ], "max": [ 8.0, 7.76, 40.0 ], "size": [ 16.0, 15.76, 40.0 ] }, "volume_mm3": 6719.459 }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/98432A386/" ], "confidence": "product page", "used_for": "leg v2 stop posts (D53): 4 per leg, 23 mm into blind Ø16 holes in the hip frame's web (a light fit, Loctite 638 filling the gap), the tapped end up under the TPU sleeve; the upper links' radial stop faces land on the sleeves at +3 / -97 deg", "qty_per_robot": 8, "notes": "Vented pull-out dowel (DIN 7979 D, m6): the flat lets air and retaining compound out of the blind hole (turn it to face the motor's axis, square to the stop's load), and the M8 thread in its end takes a puller screw, so a pin can come out of the printed frame. Ø16 because a Ø12 pin 22 mm into the printed web bears at SF 0.6 everyday against the link's straight edge and 1.2 with the radial stop face, against 2 (cad/leg_studies.py stop_checks); Ø16 x 23 with the face: 2.1." }, { "id": "mcmaster-94459a778", "key": "insert_m8", "category": "fastener", "vendor": "McMaster-Carr", "model": "94459A778", "name": "Heat-Set Threaded Inserts for Plastic, Standard, Brass, M8 x 1.25mm Thread Size, 12.7mm Installed Length", "price_usd": 0.6544, "price_note": "McMaster-Carr: $16.36 per pack of 25 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 25, "pack_price_usd": 16.36, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/94459A778/", "in_stock": null, "ships_from": "US" } ], "specs": { "installed_length_mm": 12.7, "thread": "M8", "mass_g": 3.71, "mass_basis": "estimate (no CAD yet): (9.6 hole - M8 minor) annulus x 12.7 mm x 0.91 (shape factor of the M5 / M3 inserts' CAD) x 8.5 g/cm3", "material": "Brass", "mcmaster": { "raw": { "Threaded Insert Type": "Heat Set", "Profile": "Standard", "Material": "Brass", "Thread Size": "M8", "Thread Pitch": "1.25 mm", "Installed Length": "12.7 mm", "Drill Bit Size": "V", "For Maximum Hole Diameter": "9.6 mm", "End Type": "Open", "For Minimum Material Thickness": "13.5 mm", "For Use In": "Plastic", "Performance": "Conductive, Corrosion Resistant, Nonmagnetic", "System of Measurement": "Metric", "Tensile Strength": "68,000 psi", "Thread Direction": "Right Hand", "Thread Fit": "Metric Class 4H", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Threaded Insert Securing Type": "Knurled", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant with Exemptions", "RoHS Exemptions": "6(c)", "Schedule B Number": "741539.0000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes", "Related Products": "Soldering Installation Tips" }, "parsed": { "Thread Pitch": { "value": 1.25, "unit": "mm" }, "Installed Length": { "value": 12.7, "unit": "mm" }, "For Maximum Hole Diameter": { "value": 9.6, "unit": "mm" }, "For Minimum Material Thickness": { "value": 13.5, "unit": "mm" }, "Tensile Strength": { "value": 468.84368, "unit": "MPa" } } }, "hole_mm": 9.6 }, "cad": { "file": null, "kind": "insert", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/94459A778/", "bbox_mm": null, "volume_mm3": null, "pending": "STEP not downloaded yet: on 2026-10-26 McMaster-Carr asked for a login before CAD downloads ('Please log in and reload the page to download CAD', then downloads cancelled). Finish with .venv/bin/python tools/mcmaster_cad.py --catalog --only knee_pin_60 stop_post insert_m8 washer_m12_thin knee_spacer screw_m6x40 (logged in, or once the anonymous limit resets), or save the STEP from a logged-in browser as references/vendor/mcmaster/94459A778/94459A778.step and run the same command offline." }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/94459A778/" ], "confidence": "product page", "used_for": "no longer in the leg (its stop posts are Ø16 pins in blind holes since D53); kept for the body plan's M8 inserts (docs/body-plan.md)", "qty_per_robot": null, "notes": "Installed length 12.7 mm; recommended hole: letter drill V (9.58 mm), 9.6 mm maximum (McMaster). cad/fivebar.py cuts a 10 x 16 pilot: make it 9.6 (a printed hole comes out a little small, so 9.6-9.7 as modelled); 16 deep leaves room below the insert for displaced melt and the post's thread tip. Minimum material 13.5 mm (McMaster): the hip frame is 24.1 mm thick at the posts. The 12.7 mm length, not the 6.4 mm 94459A777, so the stop post's whole 13 mm thread is engaged and the insert resists the impact bending of a stop. Same family as insert_m5 / insert_m3 (94459A, standard brass)." }, { "id": "mcmaster-98689a118", "key": "washer_m12_thin", "category": "fastener", "vendor": "McMaster-Carr", "model": "98689A118", "name": "18-8 Stainless Steel Washer, Undersized, for M12 Screw Size, 13.0 mm ID, 20.0 mm OD", "price_usd": 0.1371, "price_note": "McMaster-Carr: $13.71 per pack of 100 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 100, "pack_price_usd": 13.71, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/98689A118/", "in_stock": null, "ships_from": "US" } ], "specs": { "id_mm": 13.0, "od_mm": 20.0, "mass_g": 2.9, "mass_basis": "estimate (no CAD yet): nominal 13 x 20 x 2 x 8.0 g/cm3", "material": "18-8 Stainless Steel", "mcmaster": { "raw": { "Washer Designation": "Undersized", "Material": "18-8 Stainless Steel", "For Screw Size": "M12", "ID": "13.0 mm", "OD": "20.0 mm", "Thickness": "1.8 mm to 2.2 mm", "Hardness": "Rockwell B76", "Performance": "Corrosion Resistant", "Specifications Met": "DIN 433, ISO 7092", "System of Measurement": "Metric", "Washer Type": "Flat", "Country of Origin": "China, Germany, India", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731816.0000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "ID": { "value": 13.0, "unit": "mm" }, "OD": { "value": 20.0, "unit": "mm" }, "Thickness": { "min": 1.8, "max": 2.2, "unit": "mm" } } } }, "cad": { "file": null, "kind": "washer", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/98689A118/", "bbox_mm": null, "volume_mm3": null, "pending": "STEP not downloaded yet: on 2026-10-26 McMaster-Carr asked for a login before CAD downloads ('Please log in and reload the page to download CAD', then downloads cancelled). Finish with .venv/bin/python tools/mcmaster_cad.py --catalog --only knee_pin_60 stop_post insert_m8 washer_m12_thin knee_spacer screw_m6x40 (logged in, or once the anonymous limit resets), or save the STEP from a logged-in browser as references/vendor/mcmaster/98689A118/98689A118.step and run the same command offline." }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/98689A118/" ], "confidence": "product page", "used_for": "leg v2 knee joints: one each side of each knee's bearing stack (upper link to the inner 6001, outer 6001 to the knee pin's head)", "qty_per_robot": 8, "notes": "DIN 433 / ISO 7092 M12: 13 x 20 x 2 (1.8-2.2) = the 2 mm layer gap in cad/fivebar.py. No 13 x 24 x 2 is stocked (DIN 125 M12 is 13 x 24 x 2.5, too thick for the gap). The CAD's knee_washer envelope is 24 OD: make it 20. 20 is also the safer size: it bears on the 6001's inner ring (flat out to 15.2 in the McMaster model) and passes over the seal (recessed 0.4), while a 24 washer floating 0.5 mm on the 12 mm shoulder could reach the outer ring's face (from 24.8)." }, { "id": "mcmaster-9056k68", "key": "knee_spacer", "category": "fastener", "vendor": "McMaster-Carr", "model": "9056K68", "name": "Multipurpose 6061 Aluminum Round Tube, 0.065\" Wall Thickness, 5/8\" OD", "price_usd": 6.26, "price_note": "McMaster-Carr: $6.26 each (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 1, "pack_price_usd": 6.26, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/9056K68/", "in_stock": null, "ships_from": "US" } ], "specs": { "length_mm": 152.4, "od_mm": 15.875, "id_mm": 12.573, "mass_g": 30.36, "mass_basis": "estimate (no CAD yet): nominal 15.875 OD x 12.573 ID x 152.4 mm (1/2 ft) x 2.7 g/cm3", "material": "6061 Aluminum", "mcmaster": { "raw": { "Tolerance Rating": "Standard", "Wall Thickness": "0.065\"", "Wall Thickness Tolerance": "-0.004\" to 0.004\"", "Length": "1/2 ft.", "Length Tolerance": "0.000\" to 0.125\"", "OD": "5/8\"", "OD Tolerance": "-0.01\" to 0.01\"", "ID": "0.495\"", "ID Minimum Tolerance": "Not Rated", "ID Maximum Tolerance": "Not Rated", "Fabrication": "Cold Drawn", "Temper Designation": "T6", "Specifications Met": "ASTM B210", "Appearance": "Plain", "Application": "Multipurpose", "Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "Conductivity Percentage": "43% IACS", "Elongation": "12.5%", "Hardness": "Brinell 95", "Hardness Rating": "Soft", "Heat Treatable": "Yes", "Heat Treatment": "Hardened", "Material": "6061 Aluminum", "Material Composition Aluminum": "95.85% to 98.61%", "Material Composition Chromium": "0.04% to 0.35%", "Material Composition Copper": "0.15% to 0.4%", "Material Composition Iron": "0% to 0.7%", "Material Composition Magnesium": "0.8% to 1.2%", "Material Composition Manganese": "0% to 0.15%", "Material Composition Other": "0% to 0.15%", "Material Composition Silicon": "0.4% to 0.8%", "Material Composition Titanium": "0% to 0.15%", "Material Composition Zinc": "0% to 0.25%", "Performance": "Corrosion Resistant, Formable, Heat Treatable, High Strength, Machinable, Ultra Low Temperature, Ultra Weldable", "Shape": "Round Tube", "Straightness Tolerance": "0.020\"/1 ft.", "Temperature": "-320° F to 210° F", "Warning Message": "Physical and mechanical properties are not guaranteed. They are intended only as a basis for comparison and not for design purposes.", "Yield Strength": "35,000 psi", "Country of Origin": "United States, Brazil", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "760820.0030", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No", "Additional Specifications": "SDS" }, "parsed": { "Wall Thickness": { "value": 1.651, "unit": "mm" }, "Wall Thickness Tolerance": { "min": -0.1016, "max": 0.1016, "unit": "mm" }, "Length": { "value": 152.4, "unit": "mm" }, "Length Tolerance": { "min": 0.0, "max": 3.175, "unit": "mm" }, "OD": { "value": 15.875, "unit": "mm" }, "OD Tolerance": { "min": -0.254, "max": 0.254, "unit": "mm" }, "ID": { "value": 12.573, "unit": "mm" }, "Temperature": { "min": -195.555556, "max": 98.888889, "unit": "degC" }, "Yield Strength": { "value": 241.3166, "unit": "MPa" } } } }, "cad": { "file": null, "kind": "spacer", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/9056K68/", "bbox_mm": null, "volume_mm3": null, "pending": "STEP not downloaded yet: on 2026-10-26 McMaster-Carr asked for a login before CAD downloads ('Please log in and reload the page to download CAD', then downloads cancelled). Finish with .venv/bin/python tools/mcmaster_cad.py --catalog --only knee_pin_60 stop_post insert_m8 washer_m12_thin knee_spacer screw_m6x40 (logged in, or once the anonymous limit resets), or save the STEP from a logged-in browser as references/vendor/mcmaster/9056K68/9056K68.step and run the same command offline." }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/9056K68/" ], "confidence": "product page", "used_for": "leg v2 knee joints: the spacer between each knee's two 6001 inner races (2 per leg), cut from this tube: one 1/2 ft length makes the robot's 4 and a spare", "qty_per_robot": 1, "choose": [ "1/2" ], "notes": "No stocked spacer fits. McMaster's M12 unthreaded spacers (aluminium 94669A, 18-8 92871A) are 19 OD, over the 17 limit for bearing on the inner ring only, in 5 mm steps with no 26 (closest: 92871A374, 19 x 25, bore 12.0-12.3, $7.05 each, would need a seat moved 1 mm). Cut four 28 mm pieces from one 1/2 ft (152 mm) of this 6061-T6 tube (15.9 OD x 12.57 bore, 0.065 wall: clears the 12 mm shoulder by about 0.6 mm) and face both ends square to 26.00 +0/-0.05 on a lathe: the spacer sets the inner races' axial position, so its length matters most. One piece is about 5.2 g and $1.57 of tube; price_usd, mass and CAD here are for the whole 1/2 ft length (qty_per_robot counts lengths, as for threaded_rod_m8). Better than a printed spacer: PA6-CF would creep under the knee pin's clamp and let the inner races loosen. Without a lathe: made-to-order 6061 spacer 90018A130 at 0.630 OD x 0.500 ID x 1.024 in ($39.54 each in 5s, $70.39 for 1-4). Leg v2 (30 mm upper links): cut to 28.0 mm (+0/-0.05), four per 1/2 ft length.", "options": [ "Length, ft. 1/2", "Length, ft." ] }, { "id": "mcmaster-91290a336", "key": "screw_m6x40", "category": "fastener", "vendor": "McMaster-Carr", "model": "91290A336", "name": "Black-Oxide Alloy Steel Socket Head Screw, US Origin, M6 x 1 mm Thread Size, 40 mm Long", "price_usd": 0.2658, "price_note": "McMaster-Carr: $13.29 per pack of 50 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 50, "pack_price_usd": 13.29, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/91290A336/", "in_stock": null, "ships_from": "US" } ], "specs": { "thread": "M6x1", "length_mm": 40.0, "head_d_mm": 10.0, "head_height_mm": 6.0, "mass_g": 10.74, "mass_basis": "estimate (no CAD yet): 91290A334's CAD volume (M6 x 35, same series) plus 5 mm of 6 mm shank x 7.85 g/cm3", "material": "Black-Oxide Alloy Steel", "mcmaster": { "raw": { "Thread Size": "M6 × 1 mm", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Thread Fit": "Metric Class 5g6g", "Thread Direction": "Right Hand", "Socket Head Profile": "Standard", "Fastener Head Type": "Socket", "Drive Style": "Hex", "Length": "40 mm", "Head Diameter": "10 mm", "Head Height": "6 mm", "Threading": "Partially Threaded", "Tensile Strength": "170,000 psi", "Fastener Strength Grade/Class": "Class 12.9", "Drive Size": "5 mm", "Hardness": "Rockwell C41", "Material": "Black-Oxide Alloy Steel", "Minimum Thread Length": "24 mm", "Performance": "High Strength", "Specifications Met": "DIN 912, ISO 4762", "System of Measurement": "Metric", "Tip Type": "Flat", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals Compliant (252.225-7009)", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "Not Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731815.9000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes" }, "parsed": { "Thread Size": { "thread": "M6x1", "d": 6.0, "pitch": 1.0, "unit": "mm" }, "Length": { "value": 40.0, "unit": "mm" }, "Head Diameter": { "value": 10.0, "unit": "mm" }, "Head Height": { "value": 6.0, "unit": "mm" }, "Tensile Strength": { "value": 1172.1092, "unit": "MPa" }, "Drive Size": { "value": 5.0, "unit": "mm" }, "Minimum Thread Length": { "value": 24.0, "unit": "mm" } } } }, "cad": { "file": null, "kind": "screw", "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "available": true, "step_url": "https://www.mcmaster.com/91290A336/", "bbox_mm": null, "volume_mm3": null, "pending": "STEP not downloaded yet: on 2026-10-26 McMaster-Carr asked for a login before CAD downloads ('Please log in and reload the page to download CAD', then downloads cancelled). Finish with .venv/bin/python tools/mcmaster_cad.py --catalog --only knee_pin_60 stop_post insert_m8 washer_m12_thin knee_spacer screw_m6x40 (logged in, or once the anonymous limit resets), or save the STEP from a logged-in browser as references/vendor/mcmaster/91290A336/91290A336.step and run the same command offline." }, "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "sources": [ "https://www.mcmaster.com/91290A336/" ], "confidence": "product page", "used_for": "leg v2: the BotWheel's stator flange, 4 x M6 from inside the wheel link (4 per leg)", "qty_per_robot": 8, "notes": "Head in the 11.2 x 7 counterbore (underside at y = 35); grip to the BotWheel's boss face (y = 67.8) 32.8 mm, so 7.2 mm into the wheel's M6 (1.2 d; the thread depth is not in interfaces.json yet: check it, 45 mm would give 12.2). Partially threaded, 24 mm minimum thread, so all of the engaged length is thread. Same series as screw_m6x35 (91290A334); 91290A203 (fully threaded, pack of 10, $4.90) is the cheaper buy for a single robot." }, { "id": "mcmaster-92981a409", "key": "knee_pin_70", "category": "fastener", "vendor": "McMaster-Carr", "model": "92981A409", "name": "Alloy Steel Shoulder Screws, 12 mm Shoulder Diameter, 70 mm Shoulder Length, M10 x 1.5 mm Thread", "price_usd": 6.08, "price_note": "McMaster-Carr: $6.08 each (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 1, "pack_price_usd": 6.08, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/92981A409/", "in_stock": null, "ships_from": "US" } ], "specs": { "shoulder_d_mm": 12.0, "shoulder_length_mm": 70.0, "thread": "M10x1.5", "thread_length_mm": 16.0, "head_d_mm": 18.0, "head_height_mm": 9.0, "mass_g": 86.37, "mass_basis": "estimate (no CAD yet): 92981A411's CAD volume less 20 mm of 12 mm shoulder x 7.85 g/cm3", "material": "Black-Oxide Alloy Steel", "mcmaster": { "raw": { "Shoulder Fit": "Standard", "Thread Direction": "Right Hand", "Socket Head Profile": "Standard", "Fastener Head Type": "Socket", "Drive Style": "Hex", "Material": "Black-Oxide Alloy Steel", "Shoulder Diameter": "12 mm", "Shoulder Diameter Tolerance": "-0.072 mm to -0.01 mm", "Shoulder Length": "70 mm", "Shoulder Length Tolerance": "0 mm to 0.25 mm", "Thread Size": "M10 × 1.5 mm", "Thread Length": "16 mm", "Head Diameter": "18 mm", "Head Height": "9 mm", "Drive Size": "6 mm", "Tensile Strength": "140,000 psi", "Hardness": "Rockwell C32", "Head Texture": "Smooth", "Minimum Shear Strength": "84,000 psi", "Performance": "High Strength, Wear Resistant", "Relative Thread Length": "Standard", "Relative Thread Size": "Standard", "Specifications Met": "ISO 7379", "System of Measurement": "Metric", "Thread Fit": "Metric Class 5g6g", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals Compliant (252.225-7009)", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "Not Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731815.9000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes" }, "parsed": { "Shoulder Diameter": { "value": 12.0, "unit": "mm" }, "Shoulder Diameter Tolerance": { "min": -0.072, "max": -0.01, "unit": "mm" }, "Shoulder Length": { "value": 70.0, "unit": "mm" }, "Shoulder Length Tolerance": { "min": 0.0, "max": 0.25, "unit": "mm" }, "Thread Size": { "thread": "M10x1.5", "d": 10.0, "pitch": 1.5, "unit": "mm" }, "Thread Length": { "value": 16.0, "unit": "mm" }, "Head Diameter": { "value": 18.0, "unit": "mm" }, "Head Height": { "value": 9.0, "unit": "mm" }, "Drive Size": { "value": 6.0, "unit": "mm" }, "Tensile Strength": { "value": 965.2664, "unit": "MPa" }, "Minimum Shear Strength": { "value": 579.15984, "unit": "MPa" } } } }, "cad": { "file": null, "kind": "shoulder_screw", "frame": "axis +Z, centred on the axis, underside of the head at z = 0, head on +z, shoulder and thread towards -z", "available": true, "step_url": "https://www.mcmaster.com/92981A409/", "bbox_mm": null, "volume_mm3": null, "pending": "STEP not downloaded yet: on 2026-10-26 McMaster-Carr asked for a login before CAD downloads ('Please log in and reload the page to download CAD', then downloads cancelled). Finish with .venv/bin/python tools/mcmaster_cad.py --catalog --only knee_pin_70 bearing_6201 circlip_60 screw_m5x40 screw_m6x30 (logged in, or once the anonymous limit resets), or save the STEP from a logged-in browser as references/vendor/mcmaster/92981A409/92981A409.step and run the same command offline." }, "frame": "axis +Z, centred on the axis, underside of the head at z = 0, head on +z, shoulder and thread towards -z", "sources": [ "https://www.mcmaster.com/92981A409/" ], "confidence": "product page", "used_for": "leg v2 knee joints (KC), one per knee: through the upper link, a washer, the lower link's knee boss (two 6201s and the spacer between their inner races), a washer", "qty_per_robot": 4, "notes": "Shoulder 70 (cad/fivebar.py knee_pin_length). The head sits on the outer washer at y = 82 (knee boss 32..80 + washer 2); from there to the M10 nyloc's seat (its pocket's ceiling, 10.5 into the upper link) the stack is 71.5 = washer 2 + knee boss 48 (6201 10 + spacer 28 + 6201 10) + washer 2 + upper link 30 - pocket 10.5, so the shoulder ends 1.5 short of the nut and the nut clamps the stack. M10 x 16 thread: the nut's whole 10 mm engaged, the tip 4 mm past the upper link's inner face (y = -4). Replaces knee_pin_60 in leg v2 (the leg grew thicker: upper link 30, lower links 20 + 26, two 6201s per knee); an 80 (92981A410) would run into the nut and clamp nothing. The spacer between the inner races is now 28 long (knee_spacer's notes give 26 mm pieces, for the 6001 stack). Same family as knee_pin (92981A411) and knee_pin_60 (92981A408)." }, { "id": "mcmaster-5972k42", "key": "bearing_6201", "category": "bearing", "vendor": "McMaster-Carr", "model": "5972K42", "name": "Steel Ball Bearing, Sealed, Trade No. 6201-2RS, for 12 mm Shaft Diameter", "price_usd": 19.37, "price_note": "McMaster-Carr: $19.37 each (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 1, "pack_price_usd": 19.37, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/5972K42/", "in_stock": null, "ships_from": "US" } ], "specs": { "id_mm": 12.0, "od_mm": 32.0, "width_mm": 10.0, "dynamic_load_c_n": 6894.7, "static_load_c0_n": 3069.3, "mass_g": 35.07, "mass_basis": "estimate (no CAD yet): 5972K82's CAD (6001-2RS, same family) fills 0.646 of its 12 x 28 x 8 envelope; the same fill of 12 x 32 x 10 x 7.85 g/cm3", "material": "Steel", "mcmaster": { "raw": { "For Shaft Type": "Round", "Bearing Seal Type": "Sealed", "Material": "Steel", "For Shaft Diameter": "12 mm", "For Housing ID": "32 mm", "Width": "10 mm", "Width Tolerance": "-0.12 mm to 0 mm", "ABEC Rating": "1", "Dynamic Radial Load Capacity": "1,550 lb.", "Maximum Rotation Speed": "14,600 rpm", "Temperature Range Minimum": "-20° F", "Temperature Range Max.": "230° F", "Inner Ring Type": "Standard", "Bearing Trade Number": "6201-2RS", "Ball Bearing Profile": "Standard", "Ball Material": "Steel", "Bearing Construction": "Single Row", "Bearing Type": "Ball", "Cage Material": "Steel", "For Load Direction": "Radial", "ID": "12 mm", "ID Tolerance": "-0.008 mm to 0 mm", "Lubricant": "Grease", "Lubrication": "Lubricated", "OD": "32 mm", "OD Tolerance": "-0.011 mm to 0 mm", "Radial Clearance": "0.011 mm to 0.025 mm", "Radial Clearance Trade Number": "C3", "Seal Material": "Buna-N", "Shaft Mount Type": "Press Fit", "Specifications Met": "DIN 625-1", "Static Radial Load Capacity": "690 lb.", "System of Measurement": "Metric", "Country of Origin": "South Korea", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "1C999", "REACH Compliance": "REACH (EC 1907/2006) (06/25/2025, 250 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "848210.5048", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "For Shaft Diameter": { "value": 12.0, "unit": "mm" }, "For Housing ID": { "value": 32.0, "unit": "mm" }, "Width": { "value": 10.0, "unit": "mm" }, "Width Tolerance": { "min": -0.12, "max": 0.0, "unit": "mm" }, "Dynamic Radial Load Capacity": { "value": 6894.74348, "unit": "N" }, "Maximum Rotation Speed": { "value": 14600.0, "unit": "rpm" }, "Temperature Range Minimum": { "value": -28.888889, "unit": "degC" }, "Temperature Range Max.": { "value": 110.0, "unit": "degC" }, "ID": { "value": 12.0, "unit": "mm" }, "ID Tolerance": { "min": -0.008, "max": 0.0, "unit": "mm" }, "OD": { "value": 32.0, "unit": "mm" }, "OD Tolerance": { "min": -0.011, "max": 0.0, "unit": "mm" }, "Radial Clearance": { "min": 0.011, "max": 0.025, "unit": "mm" }, "Static Radial Load Capacity": { "value": 3069.272904, "unit": "N" } } } }, "cad": { "file": null, "kind": "bearing", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/5972K42/", "bbox_mm": null, "volume_mm3": null, "pending": "STEP not downloaded yet: on 2026-10-26 McMaster-Carr asked for a login before CAD downloads ('Please log in and reload the page to download CAD', then downloads cancelled). Finish with .venv/bin/python tools/mcmaster_cad.py --catalog --only knee_pin_70 bearing_6201 circlip_60 screw_m5x40 screw_m6x30 (logged in, or once the anonymous limit resets), or save the STEP from a logged-in browser as references/vendor/mcmaster/5972K42/5972K42.step and run the same command offline." }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/5972K42/" ], "confidence": "product page", "used_for": "leg v2 knee joints (KC): two per knee, pressed into each lower link's knee boss, one at each end (y 32..42 and 70..80), outer races against the Ø27 web", "qty_per_robot": 8, "notes": "6201-2RS, 12 x 32 x 10, sealed (Buna-N), steel, C3, ABEC 1: the same McMaster family as bearing_6001 (5972K82, the 6001-2RS of the earlier knee). Load ratings (McMaster): dynamic C 1,550 lb = 6.89 kN, static C0 690 lb = 3.07 kN (the C0 3.1 kN that cad/fivebar.py KC assumes); the 6001 has 1,100 / 530 lb. 14,600 rpm. cad/fivebar.py seats it in Ø32.04 x 10 bores at both ends of the 48 mm knee boss." }, { "id": "mcmaster-98541a174", "key": "circlip_60", "category": "fastener", "vendor": "McMaster-Carr", "model": "98541A174", "name": "External Retaining Ring, for 60 mm OD, Black-Phosphate Spring Steel", "price_usd": 3.05, "price_note": "McMaster-Carr: $3.05 per pack of 1 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 1, "pack_price_usd": 3.05, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/98541A174/", "in_stock": null, "ships_from": "US" } ], "specs": { "shaft_d_mm": 60.0, "groove_d_mm": 57.0, "groove_d_tol_mm": [ -0.3, 0.0 ], "groove_width_mm": 2.15, "ring_id_mm": 55.8, "thickness_mm": 2.0, "mass_g": 13.65, "mass_basis": "estimate (no CAD yet): the ring as cad/fivebar.py draws it (apex_circlip, a 57 x 66 x 2 annulus) x 7.85 g/cm3", "material": "Phosphate-Coated Carbon Steel", "mcmaster": { "raw": { "Retaining Ring Type": "External", "Material": "Phosphate-Coated Carbon Steel", "For OD": "60 mm", "For Groove Diameter": "57 mm", "For Groove Diameter Tolerance": "-0.3 mm to 0 mm", "For Groove Width": "2.15 mm", "Ring ID": "55.8 mm", "Ring ID Tolerance": "-1.1 mm to 0.46 mm", "Ring Thk.": "2 mm", "Ring Thk. Tolerance": "-0.07 mm to 0 mm", "Thrust Load Capacity": "15,500 lbf", "Minimum Hardness": "Rockwell C44", "Specifications Met": "DIN 471", "Color": "Black", "Magnetic Properties": "Magnetic", "Retaining Ring Style": "Tapered", "System of Measurement": "Metric", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731824.0000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes", "Related Product": "Pliers" }, "parsed": { "For OD": { "value": 60.0, "unit": "mm" }, "For Groove Diameter": { "value": 57.0, "unit": "mm" }, "For Groove Diameter Tolerance": { "min": -0.3, "max": 0.0, "unit": "mm" }, "For Groove Width": { "value": 2.15, "unit": "mm" }, "Ring ID": { "value": 55.8, "unit": "mm" }, "Ring ID Tolerance": { "min": -1.1, "max": 0.46, "unit": "mm" }, "Ring Thk.": { "value": 2.0, "unit": "mm" }, "Ring Thk. Tolerance": { "min": -0.07, "max": 0.0, "unit": "mm" }, "Thrust Load Capacity": { "value": 68947.4348, "unit": "N" } } } }, "cad": { "file": null, "kind": "washer", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/98541A174/", "bbox_mm": null, "volume_mm3": null, "pending": "STEP not downloaded yet: on 2026-10-26 McMaster-Carr asked for a login before CAD downloads ('Please log in and reload the page to download CAD', then downloads cancelled). Finish with .venv/bin/python tools/mcmaster_cad.py --catalog --only knee_pin_70 bearing_6201 circlip_60 screw_m5x40 screw_m6x30 (logged in, or once the anonymous limit resets), or save the STEP from a logged-in browser as references/vendor/mcmaster/98541A174/98541A174.step and run the same command offline." }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/98541A174/" ], "confidence": "product page", "used_for": "leg v2 apex: holds the two apex 61812s (bearing_61812) on the wheel link's printed hub, in a DIN 471-60 groove inboard of the inner bearing (1 per leg)", "qty_per_robot": 2, "notes": "DIN 471 external ring for a 60 mm shaft, phosphate-coated carbon spring steel, tapered, Rockwell C44 min (McMaster): groove Ø57 (-0.3/0) x 2.15 wide, ring 2 (-0.07/0) thick, 55.8 free ID. cad/fivebar.py cuts exactly that groove (Ø57 x 2.15, y 0.8..2.95). McMaster's 15,500 lbf thrust rating is for a steel groove. In the printed PA6-CF hub the groove's outer wall carries the thrust, and it is only 0.8 mm from the hub's end (y = 0), where DIN 471 asks for at least 4.5 mm (3 x the 1.5 mm groove depth) on steel: lengthen the hub inboard by 4.5 mm or more, or the 0.8 mm lip (the last few layers of the print) can break off when the wheel link is pushed outwards relative to the front link (the other way, the Ø64 shoulder takes it). Fit with external ring pliers (McMaster 5449A82, $33.48, listed with this ring). The same ring zinc-plated is 90154A811 ($4.41), in 1.4122 stainless 90967A375 ($7.90)." }, { "id": "mcmaster-91290a662", "key": "screw_m5x40", "category": "fastener", "vendor": "McMaster-Carr", "model": "91290A662", "name": "Black-Oxide Alloy Steel Socket Head Screw, M5 x 0.8 mm Thread Size, 40 mm Long, Partially Threaded", "price_usd": 0.1618, "price_note": "McMaster-Carr: $8.09 per pack of 50 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 50, "pack_price_usd": 8.09, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/91290A662/", "in_stock": null, "ships_from": "US" } ], "specs": { "thread": "M5x0.8", "length_mm": 40.0, "head_d_mm": 8.5, "head_height_mm": 5.0, "mass_g": 7.34, "mass_basis": "estimate (no CAD yet): 91290A254's CAD volume (M5 x 30, same 22 mm thread) plus 10 mm of 5 mm shank (19.6 mm3/mm: 91290A142 x 140 less 91290A254 x 30, over 110 mm) x 7.85 g/cm3", "material": "Black-Oxide Alloy Steel", "mcmaster": { "raw": { "Thread Size": "M5 × 0.8 mm", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Thread Fit": "Metric Class 5g6g", "Thread Direction": "Right Hand", "Socket Head Profile": "Standard", "Fastener Head Type": "Socket", "Drive Style": "Hex", "Length": "40 mm", "Head Diameter": "8.5 mm", "Head Height": "5 mm", "Threading": "Partially Threaded", "Tensile Strength": "170,000 psi", "Fastener Strength Grade/Class": "Class 12.9", "Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "Drive Size": "4 mm", "Hardness": "Rockwell C39", "Material": "Black-Oxide Alloy Steel", "Minimum Thread Length": "22 mm", "Performance": "High Strength", "Specifications Met": "DIN 912, ISO 4762", "System of Measurement": "Metric", "Tip Type": "Flat", "Country of Origin": "United States, Belgium, Canada, China, France, Germany, India, Indonesia, Italy, Japan, Malaysia, Mexico, Philippines, Poland, South Korea, Switzerland, Taiwan, Thailand, Vietnam", "DFARS Compliance": "Not Specialty Metals Compliant", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731815.9000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "Thread Size": { "thread": "M5x0.8", "d": 5.0, "pitch": 0.8, "unit": "mm" }, "Length": { "value": 40.0, "unit": "mm" }, "Head Diameter": { "value": 8.5, "unit": "mm" }, "Head Height": { "value": 5.0, "unit": "mm" }, "Tensile Strength": { "value": 1172.1092, "unit": "MPa" }, "Drive Size": { "value": 4.0, "unit": "mm" }, "Minimum Thread Length": { "value": 22.0, "unit": "mm" } } } }, "cad": { "file": null, "kind": "screw", "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "available": true, "step_url": "https://www.mcmaster.com/91290A662/", "bbox_mm": null, "volume_mm3": null, "pending": "STEP not downloaded yet: on 2026-10-26 McMaster-Carr asked for a login before CAD downloads ('Please log in and reload the page to download CAD', then downloads cancelled). Finish with .venv/bin/python tools/mcmaster_cad.py --catalog --only knee_pin_70 bearing_6201 circlip_60 screw_m5x40 screw_m6x30 (logged in, or once the anonymous limit resets), or save the STEP from a logged-in browser as references/vendor/mcmaster/91290A662/91290A662.step and run the same command offline." }, "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "sources": [ "https://www.mcmaster.com/91290A662/" ], "confidence": "product page", "used_for": "leg v2: the upper links onto the output adapters' M5 heat-set inserts, 8 per upper link, heads proud (16 per leg)", "qty_per_robot": 32, "notes": "Head proud on the upper link's outer face (y = 30, no counterbore): a 30 mm grip, so 10 mm past the AO face, through all 7.9 mm of insert_m5 (94459A775) and 2.1 beyond it, 2.0 short of the bottom of the 12 mm pilot (cad/interfaces.json insert_depth_ao); a washer under the head (ISO 7089, 1.0) takes 1.0 off both. Partially threaded with 22 mm minimum thread, so all of the engaged length is thread. 91290A662 is the multi-origin column of McMaster's 91290A table (class 12.9, DIN 912 / ISO 4762, like screw_m5x22 = 91290A660); the US-origin one, like screw_m5x30 (91290A254), is 91290A258 at $16.58 per 50. One pack of 50 covers a robot (32)." }, { "id": "mcmaster-91290a332", "key": "screw_m6x30", "category": "fastener", "vendor": "McMaster-Carr", "model": "91290A332", "name": "Black-Oxide Alloy Steel Socket Head Screw, US Origin, M6 x 1 mm Thread Size, 30 mm Long", "price_usd": 0.2272, "price_note": "McMaster-Carr: $11.36 per pack of 50 (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 50, "pack_price_usd": 11.36, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/91290A332/", "in_stock": null, "ships_from": "US" } ], "specs": { "thread": "M6x1", "length_mm": 30.0, "head_d_mm": 10.0, "head_height_mm": 6.0, "mass_g": 8.45, "mass_basis": "estimate (no CAD yet): 91290A667's CAD volume (M6 x 16, fully threaded) plus 14 mm of its threaded shank (22.7 mm3/mm in that model) x 7.85 g/cm3", "material": "Black-Oxide Alloy Steel", "mcmaster": { "raw": { "Thread Size": "M6 × 1 mm", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Thread Fit": "Metric Class 5g6g", "Thread Direction": "Right Hand", "Socket Head Profile": "Standard", "Fastener Head Type": "Socket", "Drive Style": "Hex", "Length": "30 mm", "Head Diameter": "10 mm", "Head Height": "6 mm", "Threading": "Fully Threaded", "Tensile Strength": "170,000 psi", "Fastener Strength Grade/Class": "Class 12.9", "Drive Size": "5 mm", "Hardness": "Rockwell C41", "Material": "Black-Oxide Alloy Steel", "Performance": "High Strength", "Specifications Met": "DIN 912, ISO 4762", "System of Measurement": "Metric", "Tip Type": "Flat", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals Compliant (252.225-7009)", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "Not Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731815.9000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes" }, "parsed": { "Thread Size": { "thread": "M6x1", "d": 6.0, "pitch": 1.0, "unit": "mm" }, "Length": { "value": 30.0, "unit": "mm" }, "Head Diameter": { "value": 10.0, "unit": "mm" }, "Head Height": { "value": 6.0, "unit": "mm" }, "Tensile Strength": { "value": 1172.1092, "unit": "MPa" }, "Drive Size": { "value": 5.0, "unit": "mm" } } } }, "cad": { "file": null, "kind": "screw", "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "available": true, "step_url": "https://www.mcmaster.com/91290A332/", "bbox_mm": null, "volume_mm3": null, "pending": "STEP not downloaded yet: on 2026-10-26 McMaster-Carr asked for a login before CAD downloads ('Please log in and reload the page to download CAD', then downloads cancelled). Finish with .venv/bin/python tools/mcmaster_cad.py --catalog --only knee_pin_70 bearing_6201 circlip_60 screw_m5x40 screw_m6x30 (logged in, or once the anonymous limit resets), or save the STEP from a logged-in browser as references/vendor/mcmaster/91290A332/91290A332.step and run the same command offline." }, "frame": "axis +Z, centred on the axis, head on +z and shank towards -z; z = 0 at the underside of the head (socket, button, pan, hex and flanged heads) or at the top face of a countersunk (flat) head", "sources": [ "https://www.mcmaster.com/91290A332/" ], "confidence": "product page", "used_for": "leg v2: the BotWheel's stator flange, 4 x M6 from inside the wheel link's hub (4 per leg)", "qty_per_robot": 8, "notes": "Head on the foot's inner face (y = 54), inside the hub's Ø48 bore (the Ø10 heads on the 36 PCD reach r = 23); grip to the BotWheel's boss face (y = 74.8) 20.8 mm, so 9.2 mm into the wheel's M6 (1.5 d). The BotWheel's thread depth is not published (catalog/interfaces.json case.bolts.depth is null): measure it; screw_m6x40 (91290A336), listed for this joint before, would go 19.2 mm in. Fully threaded. The only 91290A M6 x 30 (US origin); same family as screw_m6x35 / screw_m6x40. One pack of 50 covers six robots." }, { "id": "mcmaster-96990a403", "key": "eye_sleeve", "category": "fastener", "vendor": "McMaster-Carr", "model": "96990A403", "name": "Metric Press-Fit Drill Bushing, 12 mm ID, 18 mm OD, 20 mm Long, Chamfer on One End", "price_usd": 16.11, "price_note": "McMaster-Carr: $16.11 each (price_usd is per piece)", "price_checked": "2026-10-26", "pack_qty": 1, "pack_price_usd": 16.11, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/96990A403/", "in_stock": null, "ships_from": "US" } ], "specs": { "id_mm": 12.0, "od_mm": 18.0, "length_mm": 20.0, "id_tol_mm": [ 0.016, 0.034 ], "od_tol_mm": [ 0.012, 0.023 ], "mass_g": 22.2, "mass_basis": "estimate (no CAD yet): nominal 12 x 18 x 20 tube (chamfer left out) x 7.85 g/cm3", "material": "Steel", "mcmaster": { "raw": { "ID": "12 mm", "OD": "18 mm", "Length": "20 mm", "Internal Chamfer": "One End", "For Drill Bit Size": "12 mm", "For Drill Bit Size Decimal Equivalent": "0.4724\"", "Tolerance ID": "0.016 mm to 0.034 mm", "Tolerance OD": "0.012 mm to 0.023 mm", "Tolerance Length": "-0.2 mm to 0.2 mm", "Drill Bushing Type": "PM", "Material": "Steel", "Hardness": "Rockwell C61", "Specifications Met": "DIN 179", "Drill Bushing Texture": "Smooth", "Installation Permanence": "Permanent", "Country of Origin": "Germany", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "Not Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant with Exemptions", "RoHS Exemptions": "6(a)-I", "Schedule B Number": "846620.8035", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "ID": { "value": 12.0, "unit": "mm" }, "OD": { "value": 18.0, "unit": "mm" }, "Length": { "value": 20.0, "unit": "mm" }, "For Drill Bit Size": { "value": 12.0, "unit": "mm" }, "For Drill Bit Size Decimal Equivalent": { "value": 11.99896, "unit": "mm" }, "Tolerance ID": { "min": 0.016, "max": 0.034, "unit": "mm" }, "Tolerance OD": { "min": 0.012, "max": 0.023, "unit": "mm" }, "Tolerance Length": { "min": -0.2, "max": 0.2, "unit": "mm" } } } }, "cad": { "file": null, "kind": "spacer", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/96990A403/", "bbox_mm": null, "volume_mm3": null, "pending": "STEP not downloaded yet: on 2026-10-26 McMaster-Carr asked for a login before CAD downloads ('Please log in and reload the page to download CAD', then downloads cancelled). Finish with .venv/bin/python tools/mcmaster_cad.py --catalog --only eye_sleeve bearing_61810 bearing_mr126 circlip_50 shoulder_6x12_m5 (logged in, or once the anonymous limit resets), or save the STEP from a logged-in browser as references/vendor/mcmaster/96990A403/96990A403.step and run the same command offline." }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/96990A403/" ], "confidence": "product page", "used_for": "leg v2 knee eyes: a hardened steel sleeve pressed into each upper link's knee eye, on the knee pin's 12 mm shoulder (1 per upper link, 2 per leg)", "qty_per_robot": 4, "notes": "DIN 179 press-fit drill bushing (type PM, headless, chamfer at one end), steel hardened to Rockwell C61, used as the knee eye's sleeve: bore 12 +0.016/+0.034 (F7) on the knee pin's 12 mm shoulder (-0.072/-0.010) is a 0.026-0.106 slip fit; OD 18 +0.012/+0.023 for the press fit; 20 ±0.2 long. Size compromise: McMaster stocks no 12 x 16 at 16 or 20 mm. Its 12 mm bore press-fit bushings are 16 x 10 (96990A240, DIN 179, $37.07 each, $31.53 at 6-11), 18 x 12 (8486A94), 18 x 20 (this one), 18 x 25 (8486A99) and 22 x 16 / 28 / 36, and its metric 12 mm ID steel sleeve bearings are all drill bushings (no other hardened sleeve). CAD change (cad/fivebar.py): EYE_SLEEVE = (18.0, 12.0) and the eye's press bore Ø17.96 x 20 deep (y 10.0..30.0, was 19.0 from y 11.0). The sleeve's inner end then stands 0.5 mm into the M10 nyloc's pocket (ceiling y = 10.5), so the nut seats on steel at y = 10.0 instead of on 0.5 mm of PA6-CF, and the knee pin's clamp runs nut, sleeve, washer, 6201 inner races and spacer, washer, head all in steel. knee_pin_70 still clamps (its shoulder ends 2.0 short of the nut, was 1.5) with the nut's whole 10 mm on the M10 x 16 thread. The Ø18 leaves 11 mm of wall in the Ø40 eye, and washer_m12_thin (13 x 20) bears on the sleeve's end out to r 9. To keep the Ø16 bore instead: two 96990A240 end to end in the same 20 deep bore, 8 per robot at $31.53 ($252 a robot, against $64 for four of these). Price breaks: $16.11 each for 1-5, $13.70 for 6-11, $12.04 for 12 and up." }, { "id": "mcmaster-6656k229", "key": "bearing_61810", "category": "bearing", "vendor": "McMaster-Carr", "model": "6656K229", "name": "Steel Ball Bearing, Steel, Shielded, Trade Number 6810-2Z, ABEC Rating 1", "price_usd": 33.29, "price_note": "McMaster-Carr: $33.29 each (price_usd is per piece)", "price_checked": "2026-10-27", "pack_qty": 1, "pack_price_usd": 33.29, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/6656K229/", "in_stock": null, "ships_from": "US" } ], "specs": { "id_mm": 50.0, "od_mm": 65.0, "width_mm": 7.0, "mass_g": 48.27, "mass_basis": "estimate (no CAD yet): 6656K236's CAD (6812-2Z, the same thin 618xx series) fills 0.636 of its 60 x 78 x 10 envelope; the same fill of 50 x 65 x 7 x 8.0 g/cm3", "material": "Steel", "mcmaster": { "raw": { "For Shaft Type": "Round", "Bearing Seal Type": "Shielded", "Material": "Steel", "For Shaft Diameter": "50 mm", "For Housing ID": "65 mm", "Width": "7 mm", "Width Tolerance": "-0.127 mm to 0 mm", "ABEC Rating": "1", "Dynamic Radial Load Capacity": "1,450 lb.", "Maximum Rotation Speed": "9,600 rpm", "Temperature Range Minimum": "-40° F", "Temperature Range Max.": "150° F", "Inner Ring Type": "Standard", "Bearing Trade Number": "6810-2Z", "Ball Bearing Profile": "Standard", "Ball Material": "Steel", "Bearing Construction": "Single Row", "Bearing Type": "Ball", "Cage Material": "Steel", "For Load Direction": "Radial", "ID": "50 mm", "ID Tolerance": "-0.013 mm to 0 mm", "Lubricant": "Grease", "Lubrication": "Lubricated", "OD": "65 mm", "OD Tolerance": "-0.013 mm to 0 mm", "Radial Clearance": "0.005 mm to 0.013 mm", "Shaft Mount Type": "Press Fit", "Static Radial Load Capacity": "1,350 lb.", "System of Measurement": "Metric", "Country of Origin": "Japan", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "1C999", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "848210.5028", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "For Shaft Diameter": { "value": 50.0, "unit": "mm" }, "For Housing ID": { "value": 65.0, "unit": "mm" }, "Width": { "value": 7.0, "unit": "mm" }, "Width Tolerance": { "min": -0.127, "max": 0.0, "unit": "mm" }, "Dynamic Radial Load Capacity": { "value": 6449.92132, "unit": "N" }, "Maximum Rotation Speed": { "value": 9600.0, "unit": "rpm" }, "Temperature Range Minimum": { "value": -40.0, "unit": "degC" }, "Temperature Range Max.": { "value": 65.555556, "unit": "degC" }, "ID": { "value": 50.0, "unit": "mm" }, "ID Tolerance": { "min": -0.013, "max": 0.0, "unit": "mm" }, "OD": { "value": 65.0, "unit": "mm" }, "OD Tolerance": { "min": -0.013, "max": 0.0, "unit": "mm" }, "Radial Clearance": { "min": 0.005, "max": 0.013, "unit": "mm" }, "Static Radial Load Capacity": { "value": 6005.09916, "unit": "N" } } } }, "cad": { "file": null, "kind": "bearing", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/6656K229/", "bbox_mm": null, "volume_mm3": null, "pending": "STEP not downloaded yet: McMaster-Carr asks for a login before CAD downloads (the product page itself reads without one). Finish with .venv/bin/python tools/mcmaster_cad.py --catalog --file catalog/hardware.json --only bearing_61810 once logged in, or save the STEP from a logged-in browser as references/vendor/mcmaster/6656K229/6656K229.step and run the same command." }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/6656K229/" ], "confidence": "product page", "used_for": "turret pan bearing (cad/turret.py BRG): the 6810-2Z, chrome steel, shielded, 50 x 65 x 7; outer race in the pan_base seat under the clamp ring, inner race on the turntable's journal over the DIN 471 circlip. McMaster's only sealed 6810 is the 440C stainless 4668K273 at $194.88 (catalog/alternates.json)", "qty_per_robot": 1, "notes": "6810-2RS = 61810-2RS, 50 x 65 x 7, sealed both sides (Buna-N), 440C stainless rings and balls, 304 stainless cage, ABEC 1, C0 clearance, solid polymer lubricant (McMaster). It is McMaster's only sealed 50 x 65 x 7. Ratings (McMaster): dynamic C 1,450 lb = 6.45 kN, static C0 1,350 lb = 6.0 kN, 5,000 rpm, -10 to 200 F. At $194.88: if shields will do here, as at the apex (bearing_61812 is a 6812-2Z), the steel 6810-2Z 6656K229 ($33.29, the same family as bearing_61812, 9,600 rpm) or the open 6810 6656K142 ($29.97) fits the same seat. cad/turret.py BRG is 50 x 65 x 7 (52 g, SKF): the pan_base seat is Ø65 on a Ø62 shoulder, the pan_clamp's Ø61 bore holds the outer race down, and the pan_ring sits on the inner race with a Ø56 shoulder and runs its Ø50 journal through it. The inner race turns with the pan ring: once the CAD is in, check that the Ø56 shoulder (top face) and circlip_50 (bottom face) touch only the inner ring, not the seals." }, { "id": "mcmaster-7804k112", "key": "bearing_mr126", "category": "bearing", "vendor": "McMaster-Carr", "model": "7804K112", "name": "Corrosion-Resistant 440C Stainless Steel Ball Bearing, Shielded, Trade No. 126-2Z, for 6 mm Shaft Diameter", "price_usd": 8.89, "price_note": "McMaster-Carr: $8.89 each (price_usd is per piece)", "price_checked": "2026-10-27", "pack_qty": 1, "pack_price_usd": 8.89, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/7804K112/", "in_stock": null, "ships_from": "US" } ], "specs": { "id_mm": 6.0, "od_mm": 12.0, "width_mm": 4.0, "dynamic_load_c_n": 711.7, "static_load_c0_n": 244.7, "mass_g": 1.75, "mass_basis": "estimate (no CAD yet): 5972K82's CAD (6001-2RS) fills 0.646 of its 12 x 28 x 8 envelope; the same fill of 6 x 12 x 4 x 8.0 g/cm3", "material": "440C Stainless Steel", "mcmaster": { "raw": { "For Shaft Type": "Round", "Bearing Seal Type": "Shielded", "Material": "440C Stainless Steel", "For Shaft Diameter": "6 mm", "For Housing ID": "12 mm", "Width": "4 mm", "Width Tolerance": "-0.005 mm to 0 mm", "ABEC Rating": "5", "Dynamic Radial Load Capacity": "160 lb.", "Maximum Rotation Speed": "50,000 rpm", "Temperature Range Minimum": "-40° F", "Temperature Range Max.": "240° F", "Inner Ring Type": "Standard", "Bearing Trade Number": "126-2Z", "Ball Bearing Profile": "Standard", "Ball Material": "440C Stainless Steel", "Bearing Construction": "Single Row", "Bearing Type": "Ball", "Cage Material": "400 Series Stainless Steel", "For Load Direction": "Radial", "ID": "6 mm", "ID Tolerance": "-0.005 mm to 0 mm", "Lubricant": "Oil", "Lubrication": "Lubricated", "OD": "12 mm", "OD Tolerance": "-0.005 mm to 0 mm", "Performance": "Corrosion Resistant, Precision", "Radial Clearance": "0.005 mm to 0.01 mm", "Radial Clearance Trade Number": "MC3", "Shaft Mount Type": "Press Fit", "Shield Material": "300 Series Stainless Steel", "Static Radial Load Capacity": "55 lb.", "System of Measurement": "Metric", "Country of Origin": "United States, China", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "1C999", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "848210.5044", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "For Shaft Diameter": { "value": 6.0, "unit": "mm" }, "For Housing ID": { "value": 12.0, "unit": "mm" }, "Width": { "value": 4.0, "unit": "mm" }, "Width Tolerance": { "min": -0.005, "max": 0.0, "unit": "mm" }, "Dynamic Radial Load Capacity": { "value": 711.715456, "unit": "N" }, "Maximum Rotation Speed": { "value": 50000.0, "unit": "rpm" }, "Temperature Range Minimum": { "value": -40.0, "unit": "degC" }, "Temperature Range Max.": { "value": 115.555556, "unit": "degC" }, "ID": { "value": 6.0, "unit": "mm" }, "ID Tolerance": { "min": -0.005, "max": 0.0, "unit": "mm" }, "OD": { "value": 12.0, "unit": "mm" }, "OD Tolerance": { "min": -0.005, "max": 0.0, "unit": "mm" }, "Radial Clearance": { "min": 0.005, "max": 0.01, "unit": "mm" }, "Static Radial Load Capacity": { "value": 244.652188, "unit": "N" } } } }, "cad": { "file": null, "kind": "bearing", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/7804K112/", "bbox_mm": null, "volume_mm3": null, "pending": "STEP not downloaded yet: on 2026-10-26 McMaster-Carr asked for a login before CAD downloads ('Please log in and reload the page to download CAD', then downloads cancelled). Finish with .venv/bin/python tools/mcmaster_cad.py --catalog --only eye_sleeve bearing_61810 bearing_mr126 circlip_50 shoulder_6x12_m5 (logged in, or once the anonymous limit resets), or save the STEP from a logged-in browser as references/vendor/mcmaster/7804K112/7804K112.step and run the same command offline." }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/7804K112/" ], "confidence": "product page", "used_for": "turret tilt bearing (cad/turret.py MR126): in the tilt yoke's -y arm, on the tilt pivot's shoulder screw (shoulder_6x12_m5)", "qty_per_robot": 1, "notes": "126-2Z (MR126 size) 6 x 12 x 4, shielded both sides (300-series stainless shields), 440C stainless, ABEC 5, MC3 clearance (0.005-0.010), oil-lubricated (McMaster). McMaster stocks no sealed 6 x 12 x 4: its 6 mm bore trade numbers have no 126-2RS / MR126-2RS. This one is the same envelope, so the yoke's seat stays as drawn. The nearest sealed size is 686-2RS, 6 x 13 x 5 (4668K231, 440C, $28.74), which would need a Ø13 x 5 seat. Ratings (McMaster): dynamic C 160 lb = 712 N, static C0 55 lb = 245 N, 50,000 rpm, -40 to 240 F. It carries the -y side of the cradle and cartridge (the tilt servo's horn carries the +y side). On shoulder_6x12_m5's 6 mm shoulder (-0.072/-0.010) its 6 (-0.005/0) bore is a 0.005-0.072 slip fit. cad/turret.py seats it in a Ø12 x 4 pocket in the -y arm's inner face, on a 4 mm floor with the Ø6.5 hole for the screw; the cradle's Ø8 x 1 spacer meets the inner race on the other face. The inner race turns with the cradle, and as drawn the floor reaches in to r 3.25, under the inner ring's face: relieve it between the two rings' lands (sized from the CAD) so only the outer ring sits on it, and check that the Ø8 spacer stays on the inner ring's land. Flanged version: 7804K142 ($9.08, flange Ø13.6 x 0.8)." }, { "id": "mcmaster-98541a167", "key": "circlip_50", "category": "fastener", "vendor": "McMaster-Carr", "model": "98541A167", "name": "External Retaining Ring, for 50 mm OD, Black-Phosphate Spring Steel", "price_usd": 3.1, "price_note": "McMaster-Carr: $15.50 per pack of 5 (price_usd is per piece)", "price_checked": "2026-10-27", "pack_qty": 5, "pack_price_usd": 15.5, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/98541A167/", "in_stock": null, "ships_from": "US" } ], "specs": { "shaft_d_mm": 50.0, "groove_d_mm": 47.0, "groove_d_tol_mm": [ -0.25, 0.0 ], "groove_width_mm": 2.15, "ring_id_mm": 45.8, "thickness_mm": 2.0, "mass_g": 11.43, "mass_basis": "estimate (no CAD yet): a 47 x 56 x 2 annulus (circlip_60's estimate, the groove diameter plus 4.5 mm of radial width, on the 47 mm groove) x 7.85 g/cm3", "material": "Phosphate-Coated Carbon Steel", "mcmaster": { "raw": { "Retaining Ring Type": "External", "Material": "Phosphate-Coated Carbon Steel", "For OD": "50 mm", "For Groove Diameter": "47 mm", "For Groove Diameter Tolerance": "-0.25 mm to 0 mm", "For Groove Width": "2.15 mm", "Ring ID": "45.8 mm", "Ring ID Tolerance": "-0.9 mm to 0.39 mm", "Ring Thk.": "2 mm", "Ring Thk. Tolerance": "-0.07 mm to 0 mm", "Thrust Load Capacity": "16,400 lbf", "Minimum Hardness": "Rockwell C44", "Specifications Met": "DIN 471", "Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "Color": "Black", "Magnetic Properties": "Magnetic", "Retaining Ring Style": "Tapered", "System of Measurement": "Metric", "Country of Origin": "United States", "DFARS Compliance": "Specialty Metals COTS-Exempt", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731824.0000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "Yes", "Related Product": "Pliers" }, "parsed": { "For OD": { "value": 50.0, "unit": "mm" }, "For Groove Diameter": { "value": 47.0, "unit": "mm" }, "For Groove Diameter Tolerance": { "min": -0.25, "max": 0.0, "unit": "mm" }, "For Groove Width": { "value": 2.15, "unit": "mm" }, "Ring ID": { "value": 45.8, "unit": "mm" }, "Ring ID Tolerance": { "min": -0.9, "max": 0.39, "unit": "mm" }, "Ring Thk.": { "value": 2.0, "unit": "mm" }, "Ring Thk. Tolerance": { "min": -0.07, "max": 0.0, "unit": "mm" }, "Thrust Load Capacity": { "value": 72950.83424, "unit": "N" } } } }, "cad": { "file": null, "kind": "washer", "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "available": true, "step_url": "https://www.mcmaster.com/98541A167/", "bbox_mm": null, "volume_mm3": null, "pending": "STEP not downloaded yet: on 2026-10-26 McMaster-Carr asked for a login before CAD downloads ('Please log in and reload the page to download CAD', then downloads cancelled). Finish with .venv/bin/python tools/mcmaster_cad.py --catalog --only eye_sleeve bearing_61810 bearing_mr126 circlip_50 shoulder_6x12_m5 (logged in, or once the anonymous limit resets), or save the STEP from a logged-in browser as references/vendor/mcmaster/98541A167/98541A167.step and run the same command offline." }, "frame": "axis +Z, centred on the axis; the larger end (flange, head, collar) at z = 0 and the part on +z; when both ends are the same size, the heavier end at z = 0", "sources": [ "https://www.mcmaster.com/98541A167/" ], "confidence": "product page", "used_for": "turret pan ring: DIN 471-50 ring in the journal's groove under the 61810's inner race (holds the turntable down on the bearing)", "qty_per_robot": 1, "notes": "DIN 471 external ring for a 50 mm shaft, phosphate-coated carbon spring steel (black), tapered, Rockwell C44 min (McMaster): groove Ø47 (-0.25/0) x 2.15 wide, ring 2 (-0.07/0) thick, 45.8 (-0.9/+0.39) free ID. Thrust rating 16,400 lbf = 73 kN, for a steel groove. Same family and finish as circlip_60 (98541A174), but sold in packs of 5 ($15.50, $3.10 a ring): one pack covers five robots. Single rings: zinc-plated 90154A768 ($3.37), 1.4122 stainless 90967A350 ($5.59). Fit it with circlip_60's external ring pliers (5449A82, $33.48). cad/turret.py's pan_ring cuts exactly this groove (Ø47 x 2.15, z 28.85..31.0), right under the 61810's lower face (z = 31), so the ring holds the turntable down on the inner race. Edge margin: the printed journal ends at z = 26 (brg_z - 5), 2.85 mm below the groove, where DIN 471 asks for at least 4.5 mm (3 x the 1.5 mm groove depth) on steel. Lengthen the journal by 1.7 mm or more (more in PA6-CF), or the lip can shear off when the turret is lifted or lands upside down. The ring turns with the pan ring: once the CAD is in, check that its lugs (they stand out beyond the ring's back) clear the 61810's seal and outer ring (flush at z = 31) and the pan_base's Ø62 shoulder (z 29..31)." }, { "id": "mcmaster-92981a101", "key": "shoulder_6x12_m5", "category": "fastener", "vendor": "McMaster-Carr", "model": "92981A101", "name": "Alloy Steel Shoulder Screws, 6 mm Shoulder Diameter, 12 mm Shoulder Length, M5 x 0.8 mm Thread", "price_usd": 2.82, "price_note": "McMaster-Carr: $2.82 each (price_usd is per piece)", "price_checked": "2026-10-27", "pack_qty": 1, "pack_price_usd": 2.82, "buy": [ { "seller": "McMaster-Carr", "url": "https://www.mcmaster.com/92981A101/", "in_stock": null, "ships_from": "US" } ], "specs": { "shoulder_d_mm": 6.0, "shoulder_length_mm": 12.0, "thread": "M5x0.8", "thread_length_mm": 10.0, "head_d_mm": 10.0, "head_height_mm": 5.0, "mass_g": 6.66, "mass_basis": "estimate (no CAD yet): nominal head + shoulder + thread less 41 mm3 for the hex socket and chamfers (scaled with the hex size from 92981A205's CAD) x 7.85 g/cm3", "material": "Black-Oxide Alloy Steel", "mcmaster": { "raw": { "Shoulder Fit": "Standard", "Thread Direction": "Right Hand", "Socket Head Profile": "Standard", "Fastener Head Type": "Socket", "Drive Style": "Hex", "Material": "Black-Oxide Alloy Steel", "Shoulder Diameter": "6 mm", "Shoulder Diameter Tolerance": "-0.072 mm to -0.01 mm", "Shoulder Length": "12 mm", "Shoulder Length Tolerance": "0 mm to 0.25 mm", "Thread Size": "M5 × 0.8 mm", "Thread Length": "10 mm", "Head Diameter": "10 mm", "Head Height": "5 mm", "Drive Size": "3 mm", "Tensile Strength": "140,000 psi", "Material Certificate Form": "Digital", "Certificate Type": "Material Certificate with Traceable Lot Number", "Hardness": "Rockwell C32", "Head Texture": "Knurled", "Minimum Shear Strength": "84,000 psi", "Performance": "High Strength, Wear Resistant", "Relative Thread Length": "Standard", "Relative Thread Size": "Standard", "System of Measurement": "Metric", "Thread Fit": "Metric Class 5g6g", "Thread Spacing": "Coarse", "Thread Type": "Metric", "Country of Origin": "United States, Belgium, Canada, China, France, Germany, India, Indonesia, Italy, Japan, Malaysia, Mexico, Philippines, Poland, South Korea, Switzerland, Taiwan, Thailand, Vietnam", "DFARS Compliance": "Not Specialty Metals Compliant", "Export Control Classification Number (ECCN)": "EAR99", "REACH Compliance": "REACH (EC 1907/2006) (02/04/2026, 253 SVHC) Compliant", "RoHS Compliance": "RoHS 3 (2015/863/EU) Compliant", "Schedule B Number": "731815.9000", "U.S.–Mexico–Canada Agreement (USMCA) Qualifying": "No" }, "parsed": { "Shoulder Diameter": { "value": 6.0, "unit": "mm" }, "Shoulder Diameter Tolerance": { "min": -0.072, "max": -0.01, "unit": "mm" }, "Shoulder Length": { "value": 12.0, "unit": "mm" }, "Shoulder Length Tolerance": { "min": 0.0, "max": 0.25, "unit": "mm" }, "Thread Size": { "thread": "M5x0.8", "d": 5.0, "pitch": 0.8, "unit": "mm" }, "Thread Length": { "value": 10.0, "unit": "mm" }, "Head Diameter": { "value": 10.0, "unit": "mm" }, "Head Height": { "value": 5.0, "unit": "mm" }, "Drive Size": { "value": 3.0, "unit": "mm" }, "Tensile Strength": { "value": 965.2664, "unit": "MPa" }, "Minimum Shear Strength": { "value": 579.15984, "unit": "MPa" } } } }, "cad": { "file": null, "kind": "shoulder_screw", "frame": "axis +Z, centred on the axis, underside of the head at z = 0, head on +z, shoulder and thread towards -z", "available": true, "step_url": "https://www.mcmaster.com/92981A101/", "bbox_mm": null, "volume_mm3": null, "pending": "STEP not downloaded yet: on 2026-10-26 McMaster-Carr asked for a login before CAD downloads ('Please log in and reload the page to download CAD', then downloads cancelled). Finish with .venv/bin/python tools/mcmaster_cad.py --catalog --only eye_sleeve bearing_61810 bearing_mr126 circlip_50 shoulder_6x12_m5 (logged in, or once the anonymous limit resets), or save the STEP from a logged-in browser as references/vendor/mcmaster/92981A101/92981A101.step and run the same command offline." }, "frame": "axis +Z, centred on the axis, underside of the head at z = 0, head on +z, shoulder and thread towards -z", "sources": [ "https://www.mcmaster.com/92981A101/" ], "confidence": "product page", "used_for": "turret tilt pivot (-y side): through the tilt yoke's -y arm and the MR126 into the cradle's M5 insert", "qty_per_robot": 1, "notes": "Shoulder 6 (-0.072/-0.010) x 12 (0/+0.25), M5 x 0.8 x 10 thread (5g6g), knurled socket head 10 x 5, 3 mm hex, black-oxide alloy steel, Rockwell C32, 140,000 psi tensile, 84,000 psi minimum shear (McMaster). A material certificate is available. Same family as the knee pins and stop posts (92981A); this page has no 'Specifications Met' row, where the 10 and 12 mm sizes give ISO 7379. Size check: cad/turret.py (tilt_yoke, cradle, MADE) asks for an 'ISO 7379 6 x 12 shoulder screw (M5)', and this is that size; a 6.5 mm shoulder would not pass the MR126's 6 mm bore. Role: turret.py uses it as the tilt pivot on the -y side, through the -y arm's Ø6.5 hole and the MR126 into the cradle's M5 insert. It is not the cartridge latch (CT: a captive M4 thumbscrew up through the cradle rail at CT_LATCH into an insert in the cartridge base, not catalogued). Stack (y on the tilt axis): the shoulder seats on the cradle's Ø8 x 1 spacer and the insert at y = -64.99 and runs through the MR126 (4) and the arm's 4 mm floor. The head's underside is then at -76.99, 4.0 mm clear of the arm's outer face (-72.99), which it needs because it turns with the cradle against the fixed arm (a 10 mm shoulder, 92981A100, would leave 2.0; an 8 would rub). Thread: 10 mm into insert_m5 (94459A775, 7.9 long) in the cradle's 9.0 mm through pilot, so all 7.9 is engaged; the tip ends 1.0 past the cheek's inner face (y = -54.99), 3.4 mm from the cartridge body (CadQuery check on turret.py)." } ]