MOSS
A small, mostly 3D-printed litter-picking rover with a tracked base, a bin, and an SO-101-derived arm with a parallel gripper.
- Wheeled
- Open source
- 3D printable
Suggested by Robotheca, created by @metrox-eth (opens in a new tab), from github.com/metrox-eth/moss (opens in a new tab). Pinned to commit dd6ae9b (opens in a new tab).
- Hardware license
- CERN-OHL-S-2.0 (opens in a new tab)
- Software license
- Apache-2.0 (opens in a new tab)
- Commercial use
- Allowed
This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.
Which files (10 scripts)
- benches/hygiene_selftest.sh (opens in a new tab)
- benches/hygiene.sh (opens in a new tab)
- benches/run_all.sh (opens in a new tab)
- firmware/MOSS_QTPY_MDD3A/bench/flash_qtpy.sh (opens in a new tab)
- firmware/MOSS_QTPY_MDD3A/bench/watch_start.sh (opens in a new tab)
- tools/arm_speed_guard.sh (opens in a new tab)
- tools/moss-fly.sh (opens in a new tab)
- tools/moss-jbl-connect.sh (opens in a new tab)
- tools/moss-pulse-test.sh (opens in a new tab)
- tools/moss-teleop.sh (opens in a new tab)
Photo
Bill of materials
47 parts47 of 47 parts shown
| # | Component | Quantity | Est. price | Supplier |
|---|---|---|---|---|
| 1 | Adafruit QT Py ESP32-S3, 8 MB flash, no PSRAM, ref.5426 | 1 | – | – |
| 2 | Adafruit Terminal Block BFF, ref.6495 | 1 | – | – |
| 3 | Adafruit INA219 STEMMA QT, ref.904 | 1 | – | – |
| 4 | STEMMA QT cable, 300 mm, ref.5384 | 1 | – | – |
| 5 | Cytron MDD10A Rev2 dual motor driver | 1 | – | – |
| 6 | Waveshare Bus Servo Adapter A | 1 | – | – |
| 7 | MAX98357A amplifier module | 1 | – | – |
| 8 | Speaker, 3 W, 4 ohm | 1 | – | – |
| 9 | Acoustic splash membrane and compatible adhesive | 1 | – | – |
| 10 | JGB37-520, 12 V, 90:1, 110 rpm, Hall encoder, 6 mm D-shaft | 2 | – | – |
| 11 | 625 bearing | 12 | – | – |
| 12 | 608 bearing | 4 | – | – |
| 13 | 626 bearing | 4 | – | – |
| 14 | LK05 — shaft collar, 5 mm bore, Ø10 × 5 mm | 12 | – | – |
| 15 | LK06 — shaft collar, 6 mm bore, Ø11 × 5 mm | 2 | – | – |
| 16 | LK08 — shaft collar, 8 mm bore, Ø16 × 8 mm | 4 | – | – |
| 17 | Smooth steel axle, 5 ×70 mm finished length | 6 | – | – |
| 18 | Smooth steel axle, 6 ×77 mm finished length | 2 | – | – |
| 19 | Smooth steel axle, 8 ×87 mm finished length | 2 | – | – |
| 20 | Rigid motor-to-shaft coupling, 6 mm bores | 2 | – | – |
| 21 | HEX12 metal wheel hub, 6 mm bore, 18 mm length | 2 | – | – |
| 22 | ST3215 12 V serial bus servo | 5 | – | – |
| 23 | CF35-12 constant-force gripper servo | 1 | – | – |
| 24 | 3010 fan, 12 V | 2 | – | – |
| 25 | Magnet, 20 ×10 ×2 mm | 4 | – | – |
| 26 | Small two-part epoxy adhesive kit, two tubes (resin + hardener) | 1 | – | – |
| 27 | M3 brass heat-set insert, OD4 mm, length 6 mm | 11 | – | – |
| 28 | 12-cell battery pack, 3S4P, with BMS | 1 | – | – |
| 29 | 12.6 V CC/CV charger for the selected 3S pack | 1 | – | – |
| 30 | Emergency stop LA16-11ZS/A, 16 mm | 1 | – | – |
| 31 | KCD11 two-pin rocker switch and splash cover | 1 | – | – |
| 32 | Inline blade-fuse holder, 14 AWG | 1 | – | – |
| 33 | ATC blade fuse, 15 A | 1 | – | – |
| 34 | Amass XT30 male/female connector pair | 6 | – | – |
| 35 | DC panel socket, 5.5 ×2.1 mm | 2 | – | – |
| 36 | DC male barrel plug — computer power branch | 1 | – | Supplier: buy DC male barrel plug — computer power branch, opens in a new tab |
| 37 | DC male barrel plug, 5.5 × 2.1 mm — servo power branch | 1 | – | Supplier: buy DC male barrel plug, 5.5 × 2.1 mm — servo power branch, opens in a new tab |
| 38 | DC male barrel plug, 5.5 × 2.1 mm — battery extension | 1 | – | – |
| 39 | Wire, ferrules and heat-shrink | 1 | – | – |
| 40 | Plugable USB hub, model USB2-2port | 1 | – | – |
| 41 | USB-C to USB-A cable, 30 cm | 3 | – | – |
| 42 | RealSense camera cable | 1 | – | Lazada product link · RealSense option only.: buy RealSense camera cable, opens in a new tab |
| 43 | NVIDIA Jetson Orin Nano Super Developer Kit | 1 | – | – |
| 44 | OR Raspberry Pi5 with its cooler, storage and appropriate 5 V supply | 1 | – | – |
| 45 | Intel RealSense D455 OR Orbbec Gemini 2 | 1 | – | – |
| 46 | SLAMTEC RPLIDAR C1 | 1 | – | – |
| 47 | Wrist USB camera for the R30 mount | 1 | – | – |
47 of 47 parts have no price in the source, so there is no parts total. Read from BOM.md at the pinned commit.
Build guide
The guide appears here as you scroll.
Guide by @metrox-eth (README.md), under CERN-OHL-S-2.0 (hardware) and Apache-2.0 (software).
More guides
Wiring and electronics
Cables and connectors
From the parts list.
- Adafruit Terminal Block BFF, ref.6495 × 1
- STEMMA QT cable, 300 mm, ref.5384 × 1
- Amass XT30 male/female connector pair × 6
- Wire, ferrules and heat-shrink × 1
- USB-C to USB-A cable, 30 cm × 3
- RealSense camera cable × 1