Hardware specs
The MIRTE Master was designed to be the upgraded bigger brother of the MIRTE Pioneer. With this the students can focus more on realiastis robot applications. Like with the MIRTE Pioneer, we tried to minimize the number of custom components.
Warning
Please note that this is the first version (v0.1) of the MIRTE Master. We are currently redesigning the PCBs and part of the frame to account for a better assembly experience, and reduce the number of parts.
# |
component |
type |
|---|---|---|
1 |
Computer |
|
1 |
eMMC (optional) |
32GB eMMC |
1 |
micro SD card |
Intenso 16Gb (class 10) micro SD card |
1 |
Microcontroller |
|
1 |
Main control PCB |
|
1 |
Base control PCB |
|
1 |
Depth camera switch PCB [1] |
|
1 |
Depth Camera |
|
1 |
2D Lidar |
|
1 |
Power sensor |
|
1 |
OLED |
|
1 |
IMU |
|
1 |
16 PWM servo module |
|
4 |
Ultrasonic sensor |
|
4 |
DC motors (incl encoders) |
|
2 |
dual H-brigde module |
|
1 |
Mecanum wheel (set of 4) |
# |
electronics component |
type |
|---|---|---|
1 |
switch |
|
1 |
Battery with XT90 |
|
1 |
12-5V step down |
|
1 |
USB-C charger |
USB-C charger [3] |
1 |
male XT90 connector |
|
1 |
Fuse and holder |
Fuse and holder |
2 |
diodes |
|
36 |
wire ferrules |
# |
cables |
usage |
|---|---|---|
2 |
INA226 and OLED |
|
6 |
||
1 |
power between PCBs |
|
2 |
data between PCBs |
|
1 |
PCA9685 |
|
4 |
DC motors to PCB |
|
2 |
micro USB cable 15 cm |
Pico and switch PCB |
1 |
USB-C cable |
Orange Pi 3B Power |
# |
mechanical components |
|---|---|
1 |
3D printed covers |
1 |
Sheet metal base frame |
1 |
Sheet metal arm elements |
1 |
|
40 |
M3 square nuts |
3 |
|
1 |
|
1 |
|
3 |
|
3 |
|
4 |
|
2 |
|
3 |
M3 x 20 screws |
8 |
M3 x 16 screws |
82 |
M3 x 6 screws |
23 |
M3 nuts |
19 |
M2.5 screws |
12 |
M2.5 nuts |
4 |