Jary project

Jary Bill of Materials

This Bill of Materials tracks the hardware currently used to build Jary. Components may evolve as the project develops.

Degrees of freedom: 15 DOF

Actuation

  • FEETECH ST3215 serial bus servo

    15

    6 per leg, 3 per arm — 15 DOF total.

    Source: —

  • Serial bus servo driver board

    1

    Drives the full servo bus from the controller.

    Source: —

  • Servo bus extension cables

    Set

    Lengths vary by limb.

    Source: —

Control

  • ESP32-S3 controller

    1

    Main board running the Jary firmware.

    Source: —

  • OV5640 camera module

    1

    Head-mounted vision module.

    Source: —

  • MPU6050 IMU

    1

    Orientation and balance sensing.

    Source: —

Power

  • LiPo 2S 7.4 V battery

    1

    Main power source.

    Source: —

  • 5 V buck converter

    1

    Logic rail supply.

    Source: —

  • 2200 µF / 16 V capacitor

    1

    Smooths servo current spikes.

    Source: —

  • Power switch, fuse and XT60 connector

    1 each

    Protection and disconnect.

    Source: —

  • Power and ground wiring

    Set

    Silicone wire, gauge per run.

    Source: —

Structure

  • 3D-printed structure

    1 set

    Pelvis, thighs, knee cradles, shins, ankles A/B, feet, torso, upper arms, forearms, shoulder mounts, head and camera housing.

    Source: —

  • PETG or PLA+ filament

    ~1.5–2.5 kg

    Structural parts.

    Source: —

  • TPU filament

    ~100–200 g

    Foot pads and flexible details.

    Source: —

Fasteners

  • M3 screws

    ~60–100

    Assorted lengths.

    Source: —

  • M3 nuts

    ~30–50

    Source: —

  • M3 washers

    ~40–60

    Source: —

  • Heat-set inserts (M3)

    ~20–30

    Installed with a soldering iron.

    Source: —

  • Nylon / PTFE washers

    8–16

    Low-friction joint faces.

    Source: —

  • Removable threadlocker

    1

    Medium strength.

    Source: —

Wiring

  • JST / Dupont cables

    Set

    Sensor and signal connections.

    Source: —

  • Heat-shrink tubing and cable sleeve

    Set

    Harness protection and routing.

    Source: —

Optional

  • Rubber feet

    2

    Extra grip on smooth floors.

    Source: —