1. How to assemble the AD-R1M hardware

1.1. Bill of Materials

AD-R1M Bill of Materials
Ref	Qty	P/N	Description
3D1	4	N/A	16 mm caster raiser
3D2	2	N/A	Motor mounts
3D3	2	N/A	3D printed camera mount brackets
3D4	1	N/A	3D printed camera housing
3D5	2	N/A	Wheel assembly
3D6	1	N/A	Electronics sub-assemblies mounting plate
3D7	1	N/A	3D Printed Front Panel
ADI1	2	QSH5718-51-28-101-10K	NEMA 23 stepper motor 55Ncm, 2.8A
ADI2	1	EVAL-ADTF3175D-NXZ	Time-of-Flight depth camera for perception
ADI3	2	ADRD3161-01Z	Motor Control PCB
ADI4	1	ADRD5161-01Z	BMS
ADI5	1	ADRD4161-01Z	Compute Carrier
ADI6	1	N/A	Battery Holder
E1	1	RPi 5	Raspberry Pi 5 SBC
E2	1	IND16-12B-C	Status LED
E3	1	82-4151.1000	SPDT Button
E4	1	82-4151.1123	SPDT Button
M1	6	FA-093W201N05S01	Angle bracket
M2	6	A-094411M4	Panel holder
M3	1	K2020-I5 KRAFTBERG	340mm Aluminum 20X20 profile
M4	2	K2040-I5 KRAFTBERG	530mm Aluminum 20X40 profile
M5	1	K2040-I5 KRAFTBERG	340mm Aluminum 20X40 profile
M6	12	M5X8/D912-A4	Screw
M7	28	FA-096215	M5 Profile nut
M8	4	JDPE-0501-1001	Casters
M9	8	B5X25/BN3	M5 25mm screw
M10	8	B5/BN715	5mm washer
M11	8	B5X10/BN3	M5 10mm screw
M12	8	B5/BN161	M5 nut lock
M13	2	B4X8/BN3	M4 x 8 HEX
M14	2	B4/BN1074	M4 Washer
M15	8	M3X15/DR213	Standoff TFF
M16	4	M3X20/DR113	Standoff TFM
M17	8	M3X25/DR213	Standoff TFF
M18	16	M3X5/D7985	Screw
M19	16	B3X5/BN610	HEX Screw
M20	8	B5X16/BN3	M5 x 16 screw

Tools Required
Item	Description
Tape measure	For measuring frame dimensions and diagonals
Allen Key set	For tightening hex screws
Pliers	For general assembly
Crimping tools	For wire harness assembly

Assemble the frame using the aluminum profiles and the angle brackets.

Make sure it results in a rectangular shape by measuring the diagonals.

Use 2 angle brackets to connect two K2040 profiles.

Place 4 “M2” holders 30mm away from the interior of the profile and 2 in the middle of the 530mm profiles.

Frame Step 1 - Frame Assembly
Ref	Qty	P/N	Description
M1	6	FA-093W201N05S01	Angle bracket
M2	6	A-094411M4	Panel holder
M3	1	K2020-I5 KRAFTBERG	340mm Aluminum 20X20 profile
M4	2	K2040-I5 KRAFTBERG	530mm Aluminum 20X40 profile
M5	1	K2040-I5 KRAFTBERG	340mm Aluminum 20X40 profile
M6	12	M5X8/D912-A4	Screw
M7	12	FA-096215	M5 Profile nut

Place the wheels using the 3D printed 15mm caster raiser “3D1”.

Frame Step 2 - Wheels
Ref	Qty	P/N	Description
M8	4	JDPE-0501-1001	casters
3D1	4	N/A	16 mm caster raiser
M7	8	FA-096215	M5 profile nut
M9	8	B5X25/BN3	M5 25mm screw
M10	8	B5/BN715	5mm washer

Install the motor mounts “3D2”. The motor mounts need to be placed in the center of the 530mm longitudinal profiles.

Frame Step 3 - Motor Mounts
Ref	Qty	P/N	Description
3D2	2	N/A	Motor mounts
M7	8	FA-096215	M5 profile nut
M11	8	B5X10/BN3	M5 10mm screw

Frame Step 4 - Motors
Ref	Qty	P/N	Description
M20	8	B5X16/BN3	M5 x 16 screw
M12	8	B5/BN161	M5 nut lock
ADI1	2	QSH5718-51-28-101-10K	NEMA 23 stepper motor 55Ncm, 2.8A

Install the motors.

Install camera mounts 116.5 mm from the side 135.5 from camera.

Camera mounts and camera housing are 3D printed.

Frame Step 5 - Camera Mounts
Ref	Qty	P/N	Description
M13	2	B4X8/BN3	M4 x 8 HEX
M14	2	B4/BN1074	M4 Washer
3D3	2	NA	3D printed camera mount brackets
3D4	1	NA	3D printed camera housing
ADI2	1	EVAL-ADTF3175	Time-of-Flight depth camera for perception

Install the wheel assembly on the motor

Frame Step 6 - Wheel Assembly
Ref	Qty	P/N	Description
3D5	2	N/A	Wheel assembly

Place board spacers.

Electronics Assembly Step 1 - Spacers
Ref	Qty	P/N	Description
3D6	1	N/A	Electronics sub-assemblies mounting plate
M15	8	M3X15/DR213	Standoff TFF
M16	4	M3X20/DR113	Standoff TFM
M17	4	M3X25/DR213	Standoff TFF
M18	16	M3X5/D7985	Screw

Place PCB sub-assemblies.

The BMS board goes above the battery holder on 4 M3X25 standoffs.

Electronics Assembly Step 2 - Boards
Ref	Qty	P/N	Description
M19	16	B3X5/BN610	HEX Screw
M17	4	M3X25/DR213	Standoff TFF
ADI3	1	ADRD3161	Motor Control PCB
ADI4	1	ADRD5161	BMS
ADI5	1	ADRD4161	Compute Carrier
ADI6	1	N/A	Battery Holder
E1	1	RPi 5	Raspberry Pi 5 SBC