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R1B Assembly Guide

components_overview

1 Wheel Assembly

1.1 Preparation

  • 1x motor holder (3d printable)
  • 1x 25mm diameter DC motor
  • 2x M3x10mm screw
  • 1x 4mm bore hex motor shaft coupler
  • 1x M4x6mm screw (and washer)
  • 1x 65mm diameter wheel/tire

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1.2 Post Assemble

Motor Wires

Make sure motor wires sticking out from the same side as the flat surface of the motor holder

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You will need to assemble 2 wheels.

2 Base Assembly

2.1 Preparation

  • 1x base (3d printable)
  • 1x caster wheel (3d printable)
  • 2x wheel assembly
  • 1x battery holder
  • 2x M3x35mm screw (double them to offer extra security to the caster wheel)
  • 4x M3x10mm screw (double them to offer extra security to the wheel assemblies)
  • 2x M3x6mm screw (double them to offer extra security to the battery holder)
  • 8x M3 screw (double them if screw numbers are doubled)

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2.2 Post Assemble

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Bottom View

post_base-top

Top View

3 Electronics Stack

3.1 Preparation

  • 1x Power expansion board
  • 1x Raspberry Pi 5
  • 1x HomeR Thalamus board (relay)
  • 1x Raspberry Pi Pico 2
  • 1x GY-521 IMU module
  • 1x HC-SR04 ultrasonic module
  • 2x Pololu DRV8874 motor driver carrier
  • 1x caster wheel (3d printable)
  • 2x wheel assembly
  • 1x battery holder
  • 7x M2.5x16mm M-F standoff (use 8 if extra security is needed)
  • 4x M2.5x6mm M-F standoff
  • 3x M2.5x6mm screw (use 4 if 8 M2.5x16mm standoff were used)
  • 4x M2.5 nut
  • 1x 2-Pin cable with JST-RCY female connector
  • 1x 2-Pin cable with JST-RCY female connector
  • 1x 2-Pin cable with JST-XH2.54 male connector on one end
  • 1x 2-Pin cable with JST-XH2.54 male connector on both ends
  • 1x Micro-USB cable (data capable)
  • 1x USB-C to USB-C cable (data not required)

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3.2 Post Assemble

3.2.1 M2.5x6mm stands

m2.5-6_stands

3.2.2 Power expansion board stack

Power Input

You'll want to attach the power input cable (with JST-RCY connector) to the blue terminal before stacking the next level (Pi5).

peb_stack

3.2.3 Raspberry Pi 5 stack

Space Above

  • Use M2.5x16mm or longer standoffs on top of the Pi5, or the HomeR Thalamus board will be likely touching the cooling fan.
  • It is optional to attach GPIO extension to the Pi5.

pi5_stack

3.2.4 Thalamus stack

thalamus_stack

3.2.5 Finish differential drive mobile base (electronics stacking)

Plug in cables and wires.

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