Parts list

Electronic components

The following table lists all electronic components, that I used to set up Lepta. Some of these components are optional, such as the LED ring. I ordered the parts at Mouser due to price and availability, however other suppliers may serve you as well.

Electronic components

Qty.	Part name	Description
1	Raspberry Pi 4
1	LiPo 3S	Battery
1	WS2812B LED ring	24 RGB LEDs
1	40mm PWM Fan
1	Adafruit INA260	Voltage/Current meter
18	Dynamixel AX-12A	Servo
1	Dynamixel U2D2	Servo Interface
1	ROBOTIS Robot Cable-3P 140mm 10 pcs	Cable
1	ROBOTIS Robot Cable-3P 180mm 10 pcs	Cable
1	ROBOTIS Robot Cable-3P 200mm 10 pcs	Cable
1	ROBOTIS P04-F2 10pcs
1	ROBOTIS P04-F3 10pcs
2	ROBOTIS BPF-WA/BU 10pcs
10	MOLEX 22-03-5035	PCB Connectors

Warning

The AX-12A Bulk packs (6 Pack) ships without the P04-F2/F3 or BPF-WA/BU. If you order the AX-12A in single pack they ship with P04-F2, P04-F3, BPF-WA/BU and screws each. I recommend to order the 6 pack as listed in the table and oder the P04-F2, P04-F3, BPF-WA/BU separately. This leaves no spare parts and additional screws at the end of the build.

Body Parts

The bodywork of Lepta consists of a set of custom 3D-printed parts. Personally, I printed all parts on a Prusa MK3S in PETG with no supports requiered. All part files can be found at Prusa Printers.

The table below lists all parts with the color, that I chose for printing.

Custom body parts

Qty.	Description	Color
1	Lower Body	black
1	Lower Body top	black
1	Upper Body	black
6	Femur (2 parts)	orange
6	Tibia	orange
1	Ring Bar	black
1	Ring Bar Spacer	black
1	Ring Cover	white

Note that the Ring Cover should be printed in a light, colorless material to allows light from the LED ring to pass through.

Screws

Lepta is held together my metric M2 and M3 machine screws. These screws distribute over the 6 legs and the body. The table below lists the amount of screws needed for each leg as well as the body and the total quantity necessary for the assembly.

Machine screws

	per leg	body	total
	Qty.	Qty.	Qty.
M2 x 6 mm	36	56	272
M2 x 10 mm	–	4	4
M2 x 12 mm / 16 mm	–	4	4
M3 x 10 mm	3	–	18
M2 Nut	16	48	144

Machine screws can usually be sourced at your local hardware store or on the internet.