🛠️ Hardware Overview 🛠️
MICKY is a modular industrial mobile robot designed for low-cost development, reproducibility, and real-world industrial applications.
The system is composed of three main modules: a mobile base responsible for locomotion, a lower module dedicated to power and electronics, and an upper module for interaction, perception, and user interface.
System Composition
The robot is structured as:
Base Module — locomotion system with motors and wheels
Lower Module — power distribution, batteries, and drivers
Upper Module — sensors, interface, and computation
This modular architecture enables easy assembly, maintenance, and future upgrades.
Power System
The robot is powered by a distributed battery system designed for flexibility and scalability.
The design supports up to four batteries, where:
two are dedicated to the locomotion system
two can be used for external computing or additional subsystems
This separation improves system stability and allows independent power management.
Design Philosophy
The robot was designed with the following principles:
Accessibility — use of low-cost and easy-to-source components
Reproducibility — all parts can be manufactured or purchased globally
Modularity — components can be replaced or upgraded independently
Robustness — structural reinforcement using aluminum profiles and mechanical supports
Notes
All structural components are designed to be compatible with aluminum profiles and 3D printed mounts, ensuring a balance between rigidity and manufacturing simplicity.
For detailed part lists and fabrication instructions, refer to the Bill of Materials and 3D Printing sections.