Skip to content
RobothecaBeta
Log in

MickRobot

An open-source single-arm mobile robot that adds a 7-degree-of-freedom arm to a mobile chassis for grasping and carrying tasks in complex environments.

  • Robot arm
  • No license: all rights reserved by the creator
  • ROS 2

Suggested by Robotheca, created by @RuPingCen (opens in a new tab), from github.com/RuPingCen/mick_robot_chassis (opens in a new tab). Pinned to commit 0459a3d (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
No license
Software license
No license
Commercial use
Unknown

No license is stated for part of this robot.

The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.

Some folders have their own license: STM32_Code/User/lwip-1.4.1/ (BSD-2-Clause).

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (1 script, 30 programs or installers, 11 firmware images)

Photo

Its license doesn't let Robotheca show its photos.
See the photos on GitHub (opens in a new tab)

Commercial use is not confirmed for this robot, so no preview is stored. View the STEP files on GitHub (opens in a new tab)

Degrees of freedom
7

What it can do

Written by Robotheca from the project's documents.

  • Four-wheel differential drive chassis for an open-source mobile robot, usable as a base for a 7-DOF single-arm mobile manipulator.
  • Controlled by an RC transmitter (RadioLink T8FB, SBUS) or by a host PC sending speed commands over serial; a switch selects manual or autonomous mode.
  • Speed commands take x velocity, y velocity and rotation rate, and the board uploads odometry, IMU, remote-control and GPIO data to the host.
  • Supports ROS1 and ROS2 bringup nodes, with navigation options including autoware and ROS2 move_base.

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's guide is written in Chinese. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.

Read the creator's guideAsk the creator on GitHub (opens in a new tab)

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • STM32F407-based chassis control board (VCU), with a companion power board for sensors.
  • Four 8-inch hub motors (WS80L-07A250C), driven by two dual-channel motor drivers (L2DB4830) that connect to the control board over CAN.
  • MPU6050 six-axis IMU on the control board.
  • RadioLink T8FB RC transmitter and receiver using the SBUS protocol.
  • 29.4V lithium iron phosphate battery (7S nominal 25.2V with BMS) and a 24V/10A external power output on the rear panel.
  • Serial-to-Ethernet module on the rear panel for debugging.

Connections

  • Battery power goes through a relay to the motor drivers; the drivers connect to the control board by CAN bus.
  • Left and right motor drivers each drive two hub motors on the same side.
  • The SBUS receiver feeds the control board for remote control input.
  • Rear panel: emergency stop, power switch, battery indicator, status lights, 232 serial port and Ethernet debug port.
  • Rear panel GX16 2-pin aviation connector: pin 1 is +VCC and pin 2 is GND for sensor power.