IEA_robotics - Mechatronic design of a small-factor mobile robot for multi-agent robotic systems.

Table of Contents

Source files

Schematic, PCB and CAD design files, GitHub repository

Description

Mechatronic design of a small-factor mobile robot for multi-agent robotic systems.

IEA_uRobotics_v1 characteristics

• Schematic and PCB designs made in Proteus.
• +5V/3.3V voltage regulator.
• Maple mini (STM32).
• NRF24L01+ transceiver.
• L293D motor driver.
• Two motor enconders.
• Six Infrared (IR) proximity sensors.
• Designed with DIP components.
• Mechanical design made in Autodesk Inventor.
• 3D printer parts made with Geetech Prusa i3x.

Schematic

PCB

PCB 3D view

CAD view

Implementation

Bill of materials (BOM)

IEA_uRobotics_v2 characteristics

• Schematic and PCB designs made in Altium.
• Designed with SMD components.
• ST-LinkV2 programmer STM32F103C8T6.
• Main uC STM32F429VIT6.
• USB connector + ESD protection.
• 9 Degrees of Freedom (DoF) motion tracking IMU MPU9250 for low-range spatial positioning.
• Dual DC motor driver A3906..
• Li-Ion/Li-Po charger MCP7383.
• Decawave DWM1000 module for mid-range spatial positioning.
• +5V/+3.3V voltage regultor for external power supply and battery: LD3985M33R, MCP186AMX330TAG, LD39050PU33R and LD1117S0TR.
• BMD-300 Bluetooth Low Energy (BLe) module for wirelss communication.
• Six Time of Figth (ToF) VL3501x sensors.

Schematic

PCB

PCB 3D view

Implementation

Bill of materials (BOM)