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TARS-AI is in the early stages of development. You may expect rapid changes to the platform.
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The Bill of Materials (BoM) is not yet finalized. For more information, see our Discord
Bill of Materials (BoM)
The following materials should be ordered for the assembly of TARS-AI. For 3D printing, see our 3D printing guide.
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Last updated: 18/07/2025
| Category | Component | Description | Quantity | Link |
|---|---|---|---|---|
| 3D Printing | 3D Printer | Ex: A1, P1S, etc. AMS recommended. | 1 | Loading link... |
| PETG Filament (RECOMMENDED) | Rigid components. | 2 | Loading link... | |
| PLA Filament (ALTERNATIVE) | Rigid components. Cheaper and less durable. | 2 | Loading link... | |
| TPU Filament (OPTIONAL) | For all flexible parts. | 1 | Loading link... | |
| Print Files | See 3D printing guide. | 1 | ||
| Core Components | Raspberry Pi 5 (4GB+ RAM) | Main computing unit | 1 | Loading link... |
| Raspberry Pi 5 Active Cooler | Fan and Heat Sink for Pi | 1 | Loading link... | |
| 5” 1024x600 LCD Display | Main display | 1 | Loading link... | |
| PCA9685 16-Channel PWM/Servo Driver | I2C interface for servo control | 1 | Loading link... | |
| Power Components | 12V Rechargeable Li-ion Battery 5000 mAh with Charger | Main power supply | 1 | Loading link... |
| LM2596 DC 5A Adjustable Buck Converter | Step-down converter for the servos (12 to 6V) | 1 | Loading link... | |
| DC 6A USB Voltage Regulator | Step-down converter for the Pi (12V to 5V, 5A) | 1 | Loading link... | |
| Micro Rocker Switch | Power switch | 1 | Loading link... | |
| USB C Male Breakout Board | Power connection for the Pi | 1 | Loading link... | |
| INA260 Battery Sensor | Battery monitoring | 1 | Loading link... | |
| 20cm Dupont Cables (Male to Female) | Connection cables for INA260 and PCA9685. | 12 | Loading link... | |
| 18 Gauge 2 Conductor Parallel Wire | Parallel power wiring. ~200cm | 1 | Loading link... | |
| Servo Motors | LDX-227 Servos* | Main servos for body and legs. *ALTERNATIVE: MG996R Servos | 3 | Loading link... |
| MG996R Servos | Servos for the arms | 2 | Loading link... | |
| MG90s Servos (OPTIONAL)* | Servos for the forearms and hands. *For NO ARMS version | 4 | Loading link... | |
| 12” Servo Extension Cables (Male to Female, JR/Futaba) | Extension cables for the servos. | 6 | Loading link... | |
| Audio System | WM8960 Audio HAT | Audio input and output board | 1 | Loading link... |
| PH2.0-N 3W 4Ω Speakers | Audio output | 2 | Loading link... | |
| Camera System | OV5647 Camera Module | Visual input | 1 | Loading link... |
| CSI Ribbon Cable, 22-to-15 Pin, 200mm | Camera connection for Pi 5. | 1 | Loading link... | |
| Hardware | M3 Flat Head Assorted Screws | Mounting screws for servos | 5 | Loading link... |
| M2.5 Flat Head Assorted Screws | Mounting screws for components | 100+ | Loading link... | |
| M2.5 Heat Inserts (OPTIONAL)* | Metallic sleeves to create reusable screw threads in the plastic. *Requires soldering iron. | 120+ | Loading link... | |
| 8x3mm Magnets | For magnetic attachments | 6 | Loading link... | |
| 9mm OD, 20mm Length Compression Springs | For mechanical movement and tension. 0.6mm wire size. | 2 | Loading link... | |
| M4 x 150mm Threaded Rod* | Axles for the main body. *These are to be cut to 100mm, 96mm, and 2x66mm lengths. | 4 | Loading link... | |
| M2 Self Tapping Screws | For mounting components | 10 | Loading link... | |
| 696ZZ Bearings | Motion support | 2 | Loading link... | |
| 6” Velcro Straps | Cable Management | 2 | Loading link... | |
| Extra Tall Female Stackable Header 2x20 | For spacing between Pi and HAT components | 1 | Loading link... | |
| Heat shrink tubing | For securing wires | 7 | Loading link... | |
| Hailo HAT Modifications (OPTIONAL) | 26 TOPS Hailo HAT Module | AI Accelerator Board | 1 | Loading link... |
| M2.5 40mm Fastener Screws | Used to secure Hailo HAT | 4 | Loading link... |
Tools & Equipment
The following tools are required or recommended for assembling TARS-AI:
| Tool | Description | Required |
|---|---|---|
| Soldering Kit | For soldering electrical connections and heat inserts. Includes: Solder, Flux, and Soldering Iron. | Yes |
| Wire Stripper/Cutter Tool | For preparing wires and cables. | Yes |
| Small Phillips + Flathead Screwdriver | For assembly of components. | Yes |
| Heat Gun* | For shrinking heat shrink tubing. *ALTERNATIVE: Simple lighter | Yes |
| Hacksaw with 24–32 TPI bi-metal blade | For cutting threaded rods. *ALTERNATIVE: Dremel with cutting wheel, Angle grinder, etc. | Yes |
| Flush Cutters | For clean cuts and part modification. | Recommended |
| Narrow Pliers | For holding and manipulating small parts. | Recommended |
Next Steps
In addition to the BoM, also see our 3D printing guide.
Contributing to the BoM
We welcome contributions to the BoM. Please see our contribution guidelines for more information.
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Documentation Contributors: @alexander-wang03, @pyrater, @atomikspace