Bill of Materials

The MIRTE Master was designed to be the upgraded bigger brother of the MIRTE Pioneer. With this the students can focus more on robot applications rather than the inner workings of the robot. Like with the MIRTE Pioneer, we tried to minimize the number of custom components.

With the MIRTE Master you can decide to build just the mobile base, the manipulator arm, or both. Please find below the components you need for these.

Warning

Currently we have only built the base, and both. The standalone arm is not yet finished.

Warning

The hardes part to get your hands on is probably the custom MIRTE PCB. We will have a look at finding ways to easily order these. Ideas are more than welcome. For now, do not hesitate to contact us on discord to get discuss instructions.

Mobile baseMobile manipulator

#	component	type
1	Computer	Orange Pi 3B v2.1
1	eMMC (optional)	32GB eMMC
1	micro SD card	Intenso 16Gb (class 10) micro SD card
1	Microcontroller	Raspberry Pi Pico H (RP2040)
1	MIRTE Master PCB	MIRTE Master main control PCB
1	OLED Screen	white SSD1306 128x64 I2C
4	DC motors (incl encoders)	12V 107RPM JGB37-520
1	Mecanum wheel (set of 4)	97mm (2 left, 2 right) [1]
1	Depth Camera	Orbbec Astra Mini Pro
1	2D Lidar	Slamtec rplidar C1
2	Ultrasonic sensor	HC-SR04
1	IMU	MPU-9250
1	Ethernet Extension cable	Delock 25 cm
-	12KG.CM Servo	HX-12H (12KG.CM) Servo [2]
-	35KG.CM Servo	HTD-35H (35KG.CM) Servo
-	45KG.CM Servo	HTD-45H (45KG.CM) Servo
-	Ball bearing	6812 2RS
-	USB camera	OV9726

Electronic components

Mobile baseMobile manipulator

#	component	type
1	switch	switch
1	12-5V step down	12-5V step down
1	5A Blade fuse	5A Blade fuse
1	battery	Parkside Performance 12V, 5Ah
1	Spring contact	Spring contact
1	20cm wire

Cables

Mobile baseMobile manipulator

#	component	usage
1	JST XH cables 4 pins, double head, 10-20cm	OLED screen
2	micro USB cable (USB A - USB B micro) 15 cm [3]	Pico & RPLidar
1	USB-C cable (USB A - USB C) 20 cm	Orange Pi 3B Power
2	JST XH cables 4 pins, double head, 30cm	Ultrasonic sensor
2	JST **PH** cable 6 pins, double head, 20cm	DC front motors
2	JST **PH** cable 6 pins, double head, 30cm	DC rear motors

Mounting

Mobile baseMobile manipulator

#	component	#	usage
2	standoff 10mm M2.5 female-female		Orange Pi 3B to bottom plate
4	standoff 25mm M4 female-female		MIRTE PCB to bottom plate
-	standoff 20mm M4 female-female		Middle to top plate
-	standoff 40mm M3 male-female		Arm base to top plate
2	M2 x 20 screws		Orbbec Astra Mini Pro to camera module
2	M2 nut		Orbbec Astra Mini Pro to camera module
8	M2.5 x 6 screws
	,,	4	Orange Pi 3B to bottom plate
	,,	4	Lidar to lidar mount
4	M2.5 x 12 screws		Shoulder print to inner arm plate
4	M2.5 spring washer		Orange Pi 3B to bottom plate
4	M2.5 washer (form a)
	,,	4	Orange Pi 3B to bottom plate
	,,	-	Shoulder print to inner arm plate
-	M2.5 locknut		Shoulder print to inner arm plate
-	M3 x 6 screws
	,,	-	Horn to rotation Servo
	,,	-	USB camera to camera module
14	M3 x 12 screws
	,,	2	Ethernet port to side panel
	,,	12	DC motor to motor module (3 per motor)
-	M3 x 14 screws		Gripper
4	M3 x 16 screws
	,,	4	Battery to battery module
	,,	-	Gripper
-	M3 x 18 screws		Arm plates to bearing
4	M3 x 20 screws
	,,	-	Gripper
	,,	4	Wheels to motor
-	M3 x 30 screws		Gripper
-	M3 locknut
	,,	-	Inner arm plates to bearing
	,,	-	Gripper
	,,	-	Arm to top plate
4	M3 washer (form a)		Wheels to motor
35	M4 x 12 screws
	,,	16	Base side panels to plates
	,,	4	Depth camera module to plates
	,,	4	Sonar modules to plates
	,,	8	MIRTE PCB to bottom plate
	,,	3	Lidar mount to middle plate
	,,	-	Middle to Top plate
8	M4 x 16 screws		Motor module to bottom plate
8	M4 locknut		Motor module to bottom plate
19	M4 U-clip captive nut
	,,	8	Base side panels to plates
	,,	4	Depth camera module to plates
	,,	4	Sonar modules to plates
	,,	3	Lidar mount to middle plate
8	M4 spring washer		MIRTE PCB to bottom plate
4	M4 washer (form a)		MIRTE PCB to bottom plate

Lasercut parts

Mobile baseMobile manipulator

#	component
1	Bottom plate (3mm PMMA)
1	Middle plate (3mm PMMA)
1	Top plate (3mm aluminum/stainless steel)
-	Arm Inner Bottom plate (1.5mm aluminum/stainless steel)
-	Arm Inner Top plate (1.5mm aluminum/stainless steel)
-	Arm Outer Bottom plate (1.5mm aluminum/stainless steel)
-	Arm Outer Top plate (1.5mm aluminum/stainless steel)

3D printed parts

The original 3D printed parts are based on the components menstioned above. Since you might want to modify your MIRTE Master based on our needs (or capability of stocking the components), you might need to (slightly) modify these.

These designs do not need support. The total amount of PLA needed for a mpobile manipulator is roughly 1 kg.

Mobile baseMobile manipulator

#	component	instructions
	Base
4	Motor module
1	Left panel
1	Right panel
1	Front panel
1	Left Sonar module
1	Right Sonar module
1	Battery module
1	Lidar module
-	Cable tube
	Arm
-	Rotation Servo Mount
-	Shoulder
-	Forearm
-	Upperarm
-	Wrist
-	Camera mount
	Gripper
-	Top plate
-	Bottom plate
-	Link
-	Geared link
-	Geared actuated link
-	Spacer
-	Actuating link left
-	Actuating link right
-	Left tip
-	Right tip

[1] (1,2)

Although branded as 6mm, you still need to drill the adapter hole to 6mm for the motor shafts. This hole should be 12.5 mm deep.

[2] (1,2)

There is no need to order the HiWonder ttl-us debugging board. With the MIRTE PCB, you are able to set the servos.

[3] (1,2)

Please check the actual USB type. Both the Raspberry Pi Pico and the RPLidar also have versions with USB-C.