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 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.
base |
arm |
both |
component |
type |
|---|---|---|---|---|
1 |
1 |
1 |
Computer |
|
1 |
1 |
1 |
eMMC (optional) |
32GB eMMC |
1 |
1 |
1 |
micro SD card |
Intenso 16Gb (class 10) micro SD card |
1 |
1 |
1 |
Microcontroller |
|
1 |
1 |
1 |
MIRTE Master PCB |
|
1 |
1 |
1 |
OLED Screen |
|
4 |
0 |
4 |
DC motors (incl encoders) |
|
1 |
0 |
1 |
Mecanum wheel (set of 4) |
|
1 |
0 |
1 |
Depth Camera |
|
1 |
0 |
1 |
2D Lidar |
|
2 |
0 |
2 |
Ultrasonic sensor |
|
1 |
0 |
1 |
IMU |
|
0 |
3 |
3 |
12KG.CM Servo |
|
0 |
1 |
1 |
35KG.CM Servo |
|
0 |
1 |
1 |
45KG.CM Servo |
|
0 |
1 |
1 |
Ball bearing |
|
0 |
1 |
1 |
USB camera |
Electronic components
base |
arm |
both |
component |
type |
|---|---|---|---|---|
1 |
1 |
1 |
switch |
|
1 |
1 |
1 |
12-5V step down |
|
1 |
1 |
1 |
5A Blade fuse |
|
1 |
0 |
1 |
battery |
|
1 |
0 |
1 |
Spring contact |
|
1 |
0 |
1 |
20cm wire |
|
0 |
1 |
0 |
USB-C module |
USB-C module |
Cables
base |
arm |
both |
component |
usage |
|---|---|---|---|---|
1 |
1 |
1 |
OLED screen |
|
2 |
1 |
2 |
micro USB cable (USB A - USB B micro) 15 cm [3] |
Pico & RPLidar |
1 |
1 |
1 |
USB-C cable (USB A - USB C) 20 cm |
Orange Pi 3B Power |
2 |
0 |
2 |
Ultrasonic sensor |
|
2 |
0 |
2 |
DC front motors |
|
2 |
0 |
2 |
DC rear motors |
Mounting
base |
arm |
both |
component |
usage |
|---|---|---|---|---|
2 |
2 |
2 |
Orange Pi 3B |
|
0 |
0 |
4 |
Middle and Top plate |
|
4 |
4 |
4 |
MIRTE PCB |
|
0 |
3 |
3 |
Arm base |
|
2 |
0 |
2 |
M2 x 20 screws |
Orbbec Astra mount |
2 |
0 |
2 |
M2 nut |
Orbbec Astra mount |
4 |
4 |
4 |
M2.5 x 6 screws |
Orange Pi 3B |
? |
? |
6 |
M2.5 x 12 screws |
|
? |
? |
8 |
M2.5 locking washer |
|
? |
? |
6 |
M2.5 washer (form a) |
|
? |
? |
35 |
M3 x 12 screws |
|
? |
? |
13 |
M3 x 16 screws |
|
( 4 ) |
( 0 ) |
( 4 ) |
,, |
battery mount |
? |
? |
6 |
M3 x 18 screws |
|
? |
? |
2 |
M3 x 20 screws |
|
? |
? |
4 |
M3 x 24 screws |
|
? |
? |
2 |
M3 x 30 screws |
|
? |
? |
23 |
M3 lock nut |
|
? |
? |
3 |
M3 locking washer |
|
? |
? |
3 |
M3 washer (form a) |
|
? |
? |
42 |
M4 x 12 screws |
|
( 16 ) |
( 0 ) |
( 16 ) |
Base side panels |
|
( 8 ) |
( 8 ) |
( 8 ) |
MIRTE PCB |
|
( 3 ) |
( 0 ) |
( 3 ) |
Lidar mount |
|
( 0 ) |
( 0 ) |
( 8 ) |
Middle and Top plate standoffs |
|
19 |
0 |
19 |
M4 U-clip captive nut |
|
( 16 ) |
( 0 ) |
( 16 ) |
Base side panels |
|
( 3 ) |
( 0 ) |
( 3 ) |
Lidar mount |
|
? |
? |
8 |
M4 lock nut |
|
? |
? |
8 |
M4 locking washer |
|
? |
? |
8 |
M4 washer (form a) |
Lasercut parts
base |
arm |
both |
component |
|---|---|---|---|
1 |
1 |
1 |
|
1 |
0 |
1 |
|
1 |
0 |
1 |
|
0 |
1 |
1 |
|
0 |
1 |
1 |
|
0 |
1 |
1 |
|
0 |
1 |
1 |
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.
base |
arm |
both |
component |
instructions |
|---|---|---|---|---|
Base |
||||
4 |
4 |
4 |
||
1 |
1 |
1 |
||
1 |
1 |
1 |
||
1 |
1 |
1 |
||
1 |
0 |
1 |
||
1 |
0 |
1 |
||
1 |
0 |
1 |
||
1 |
0 |
1 |
||
1 |
0 |
1 |
||
0 |
0 |
2 |
||
Arm |
||||
0 |
1 |
1 |
||
0 |
1 |
1 |
||
0 |
1 |
1 |
||
0 |
1 |
1 |
||
0 |
1 |
1 |
||
0 |
1 |
1 |
||
Gripper |
||||
0 |
1 |
1 |
||
0 |
1 |
1 |
||
0 |
2 |
2 |
||
0 |
1 |
1 |
||
0 |
1 |
1 |
||
0 |
4 |
4 |
||
0 |
1 |
1 |
||
0 |
1 |
1 |
||
0 |
1 |
1 |
||
0 |
1 |
1 |