Components and Parts
Shopping List
| Item | Qty. | Specs and Notes |
|---|---|---|
| DC gearmotor | 2 | 25D 6V with 48 CPR Encoder |
| 65mm wheel | 2 | motorized wheels |
| Motor shaft hex coupler | 2 | M4 thread 4mm bore |
| M4 x 6mm screw and washer | 2 | |
| M3 x 6mm screw | 4(2) | Flat head |
| M3 x 10 screw | 17(11) | Flat head |
| M3 x 35mm screw | 4(2) | Flat head |
| M3 x 80mm standoff | 5(3) | Female-Female, aluminum |
| M3 nut | 17(9) | |
| Li-ion battery holder | 1 | Holds two 18650 batteries with switch |
| M2.5 x 6mm + 6mm standoff | 4 | Female-Male |
| M2.5 x 16mm + 6mm standoff | 12 | Female-Male |
| M2.5 x 6mm screw | 8 | |
| M2.5 nut | 4 | |
| RPi 5 power expansion board | 1 | 6~24V input, 5V/5A PD output |
| Raspberry Pi 5 | 1 | with 4GB+ RAM |
| Raspberry Pi Pico 2 | 1 | Dual processors @ 150MHz |
| Pololu DRV8874 motor driver carrier | 2 | Delivers continuous 2.1A to a 4.5V to 37V brushed motor |
| GY-521 IMU breakout board | 1 | Carries 6-axis accelerometer and gyroscope: MPU6050 |
| SR-HC04 ultrasonic distence sensor | 1 | 0.03m to 4m detection within 15\(^\circ\) |
| HomeR thalamus | 1 | gerber files for JLCPCB |
| RPLidar A1M8 | 1 | 12m detection range, 360\(^\circ\) ranging @ 5.5Hz |
| MicroUSB cable | 2 | USB2.0, 480Mbps data transfer speed |
| USB C charging cable | 1 | 60W power delivery |
| 2-pin JST XH 2.54 cable | 1 | Male header |
| 2-pin male JST XH 2.54 cable | 1 | |
| 2-pin male JST XH 2.54 connector | 1 | |
| JST RCY male cable | 1 | |
| JST RCY female cable | 1 |
3D-Print Recipe
You'll need to print out following parts to set up the frame for HomeR.
- 1x base
- 1x second floor
- 1x caster wheel
- 2x motor holder
Mechanical designs
- You can add the
3mfprofile in OrcaSlicer. - The FreeCAD designs are availbale on Github: https://github.com/linzhangUCA/homer_me
Tools
Following tools are handy.
- Safety goggles
- Philips (PH1) screwdriver
- (2mm) Allen wrench key
- Needle nose pliers
- Tweezers
- Wire cutter and stripper
- Crimping tool
- Li-ion battery charger