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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: 25/03/2025
| Category | Component | Description | Quantity | Link |
|---|---|---|---|---|
| 3D Printing | Bambu Lab Printer | Compatible models: P1S, A1, X1C | 1 | Loading link... |
| TPU Filament (Bambu) | For all “flexor” parts. | 1 | Loading link... | |
| PETG Filament (Bambu) | Rigid components. | 1 | Loading link... | |
| PLA Filament (Optional) | Less durable alternative to PETG. For cheaper prototyping. | 1 | Loading link... | |
| Print Files | See 3D printing guide. | 1 | ||
| Core Components | Raspberry Pi 5 (4GB/8GB RAM) | Main computing unit (starter kit recommended) | 1 | Loading link... |
| OSOYOO 3.5” LCD Display | Main display | 1 | Loading link... | |
| PCA9685 16-Channel 12-Bit PWM/Servo Driver | I2C interface for servo control | 1 | Loading link... | |
| Power Components | 12V to 6V Buck Converter | Step-down regulator for the servos | 1 | Loading link... |
| USB Buck Converter | Step-down regulator for the Pi (>5A to drive Raspberry Pi 5) | 2 | Loading link... | |
| USB Buck Converter (Alternative) | Step-down regulator for the Pi (>5A to drive Raspberry Pi 5) | 2 | Loading link... | |
| LiPo Battery | Power supply (11.1v 3S 2200mAh 50C) | 1 | Loading link... | |
| PCT-214 Wire Connectors | Optionally clips into v9 lower lid | 1 | Loading link... | |
| Servo Motors | MG996R Servos | Digital servo motors (2x 90g servos per leg) | 1 | Loading link... |
| MG996R Servos (Alternative) | Digital 55g high torque (2x per leg) | 1 | Loading link... | |
| SG90 Micro Servos | Digital servo motors for hands (2x S51/9g micro servos per arm/hand) | 1 | Loading link... | |
| Drive Train | Bearings | Motion support (6mm ID x 15mm OD x 5mm) | 1 | Loading link... |
| Springs | Motion dampening (11mmx0.05x20mm) | 1 | Loading link... | |
| Springs (Alternative 1) | Motion dampening (11mmx0.05x20mm) | 1 | Loading link... | |
| Springs (Alternative 2) | Motion dampening (11mmx0.05x20mm) | 1 | Loading link... | |
| Metal Rods 5mm OD, 300mm Length | Structural support | 1 | Loading link... | |
| Metal Rods 3mm OD, 300mm Length | Structural support | 1 | Loading link... | |
| Linkage | Motion transfer (M4 x L25mm) | 1 | Loading link... | |
| JR Servo Extension Wires | Connection cables | 1 | Loading link... | |
| Audio System | Mini USB Microphone | Audio input | 1 | Loading link... |
| MAX98357 Audio Amplifier | Sound processing | 1 | Loading link... | |
| 3W 8Ω Speaker | Audio output | 1 | Loading link... | |
| Camera System | OV5647 Camera Module | Visual input | 1 | Loading link... |
| 15Pin to 22Pin Camera Ribbon Cable | Camera connection | 1 | Loading link... | |
| Fasteners | M3 Assorted Flat Head Screw Kit | Mounting screws (includes all needed M3 sizes) | 1 | Loading link... |
| M3 Asstd Grub Screws | Mounting (6-8 needed) | 8 | Loading link... | |
| M2.x Self Tapping | Pi and servo controller mounts (8 needed) | 8 | Loading link... |
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