XLeRobot parts list
Dual-arm household mobile robot built from two SO-101 arms, a LeKiwi-style base and an IKEA cart, starting near $660.
Mobile robotsintermediate by Gaotian (Vector) Wang and contributors
Exploded view
Tap any part to see where to buy it. Diagram is schematic, not to scale.
Every part you need
| Part | Qty | Spec | Where to buy |
|---|---|---|---|
| M3 screws and nuts set with L-key tools | 1 | Also buy 9x M4x10 screws for the wheels Frame and mount fasteners. | Amazon: check price |
| Flush cutter tools | 1 | Cuts the cart's metal mesh for cable routing. | Amazon: check price |
| Precision screwdriver set tools | 1 | Small screws. | Amazon: check price |
| Feetech STS3215 12V, 30 kg.cm (1/345) all servos (arms, base, head) | 17 | 12 for two arms, 3 for the base wheels, 2 for the head; official BOM lists $14/unit at WowRobo XLeRobot is 12V only for more torque. | WowRobo: check price (unverified) single; BOM link Seeed Studio: $22.00 RobotShop: $31.71 Alibaba: check price (unverified) single; BOM link |
| IKEA RASKOG utility cart chassis | 1 | Other carts need base connector changes The cart is the robot's body. | IKEA: $39.99 |
| Anker SOLIX C300 DC power station (288 Wh) power | 1 | Needs two 60W+ USB-C outputs (about 120W for arms and wheels, plus about 40W for a Pi) One battery runs both arms, the base and the Pi. | Anker: check price (unverified) |
| 4 in (100 mm) omni wheel drive wheels | 3 | 3-wheel version; a 2-wheel differential base was released in Dec 2025 Holonomic base from LeKiwi. | VEX Robotics: check price (unverified) single; BOM link RobotShop: EUR 22.83 |
| Table clamp 4-pack mounting | 1 | Holds arms during setup. | Amazon: check price |
| Raspberry Pi 5 (4GB) compute (optional) | 1 | Optional; a laptop works instead Onboard compute. | Adafruit: $130.00 Mouser: check price (unverified) single; BOM link |
| Waveshare Bus Servo Adapter (A) servo bus controllers | 2 | Two buses for arms, base and head. | Waveshare: $4.99 Amazon: check price Akizuki Denshi: JPY 1,280.00 |
| microSD card storage | 1 | Pi boot drive. | Amazon: check price |
| USB-C to USB-A cable 2-pack (Anker) USB cables | 1 | Boards to Pi or laptop. | Amazon: check price |
| USB-C to USB-C cable 2-pack, fast-charge rated USB cables | 1 | Battery to Pi. | Amazon: check price |
| Anker USB hub USB hub | 1 | Connects cameras and boards to one port. | Amazon: check price |
| 4 ft 5264 3-pin servo cables servo wiring | 1 | In the US only connector kits are sold, so you crimp longer leads yourself Reaches from base to head and arms. | Amazon: check price |
| USB-C to DC cable, 12V trigger servo power cables | 2 | Must be the 12V PD trigger type Feeds each board 12V from the power station. | Amazon: check price |
| USB hand camera (1080p wide angle) wrist cameras | 2 | One per gripper. | Amazon: check price |
| Logitech C920 head camera | 1 | Basic config; stereo or RealSense are upgrades Head view for navigation and tasks. | Amazon: check price |
| Intel RealSense D415 head depth camera (optional Pro) | 1 | BOM link to Intel's store no longer resolves RGB-D for the Pro config. | CDW: $381.99 (unverified) |
Quantities follow the official XLeRobot docs: https://xlerobot.readthedocs.io/en/latest/hardware/getting_started/material.html. "Unverified" prices come from search listings or older BOMs that we could not confirm on the seller's product page.
Kits (fewer orders, check what they leave out)
| Kit | Price | Includes | Leaves out | Buy |
|---|---|---|---|---|
| XLeRobot dual-arm mobile household robot kit WowRobo | check price | Developer assembly kit; the repo README lists it at $579 worldwide | Battery and IKEA cart per the README; price not verified on the store page | WowRobo: check price |
3D printed parts
Needed. Prints include SO-101 arms, base connectors for the RASKOG cart, head and camera mounts. Optional TPU 95A soft fingers. Files: https://github.com/Vector-Wangel/XLeRobot/tree/main/hardware
Mistakes builders make
- Every servo is 12V. Do not mix in 7.4V servos or a 5V supply.
- The battery must deliver two 60W+ USB-C fast-charge outputs; a weak power bank browns out the arms.
- Ready-made long 5264 servo leads are hard to buy in the US; plan to crimp extensions.
- Head servos get IDs 7 and 8 on their bus; a 'missing motor ID' error at first run usually means IDs were not set.
- A different cart than the IKEA RASKOG needs changes to the printed base connector.
FAQ
How much does it cost to build the XLeRobot?
About $660 to $1,000 in parts at current prices, Official basic config is about $660 (laptop compute, one RGB head camera). Add a Pi 5 (the BOM says $79, unverified; a 4GB now sells for $110 to $130) and $220 for a RealSense head camera. Excludes 3D printing, shipping, tax, and any leader arms for teleop..
Do I need a 3D printer for the XLeRobot?
Yes. Prints include SO-101 arms, base connectors for the RASKOG cart, head and camera mounts. Optional TPU 95A soft fingers.
Is there a kit for the XLeRobot?
Yes: WowRobo. Check what each kit leaves out before ordering.
Buying guides for this build
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Last checked 2026-10-25. Sources: github.com · xlerobot.readthedocs.io · github.com · github.com · www.ikea.com · www.ankersolix.com · www.cdw.com · www.seeedstudio.com · www.robotshop.com · www.adafruit.com