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MRIRobot

biomimetics·MRIRobot_PCB·Main_PCB_V3/MRIRobot_PCB.kicad_pcb

MRIRobot PCB layout, top view — open source board by biomimetics
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About the MRIRobot PCB

MRIRobot is an open source PCB design by biomimetics, published on GitHub. It is a 4-layer board measuring 200 × 99 mm, with 330 components from 49 distinct parts.

Other key parts include the NUCLEO-F446RE, FT231XS, CMOD_A7_FPGA, LM22676MR-5 and LM22676MR-ADJ. By type, the board carries 113 diodes, 108 resistors, 61 capacitors, 31 connectors, 8 ICs and 6 switches.

It belongs with the robotics & motion designs in this gallery.

From the project

PC boards for MRI robogt control, specifically for STM32 motherboard

MainPCB (holds STM32 Nucleo 446RE and FPGA for encoder reading)

PowerPCB (switches for enabling individual ultrasonic motors, +24V in connector, master power switch))

MotorJoint_Splitter (mounted on robot arm)

* Motor Joint Splitter V3 (mounted next to each actuator)

Motorreroute (at motor controller. Splits Tekcelo control signal to use ethernet for a pair of encoders, and 3 wire sin/cos/gnd cable for 250V )

MRIRobot, from the project README
From the project README

Main components on the MRIRobot

NUCLEO-F446REFT231XSCMOD_A7_FPGALM22676MR-5LM22676MR-ADJLSF0108

MRIRobot bill of materials (BOM)

330 components, 49 distinct parts — part numbers from the project's BOM.

QtyPartRefs
1
NUCLEO-F446RE
U1
1
FT231XS
U2
1
CMOD_A7_FPGA
U3
1
LM22676MR-5
U4
1
LM22676MR-ADJ
U5
3
LSF0108
U6, U7, U8
1
SUD08P06-155L
Q1
7
CONN_01X05
Conn_01x05
J1, J2, J3, J5, J6, J7, J8
1
USB_C_RECEPTACLE_USB2.0_16P
USB_C_Receptacle_USB2.0_16P
J4
1
Power In
J9
7
Homing
J10, J11, J12, J13, J14, J15, J16
7
CONN_01X08
Conn_01x08
J17, J18, J19, J20, J21, J24, J27
4
CONN_01X03
Conn_01x03
J22, J23, J25, J26
1
RJ45_RB1-125B8G1A
RJCSE538001
J28
3
RJCSE538001
J32, J33, J34
1
5V Enable
SW1
1
3.3V Enable
SW2
1
TOGGLE_SWITCH0
Toggle_Switch0
SW3
1
TOGGLE_SWITCH1
Toggle_Switch1
SW4
1
TOGGLE_SWITCH2
Toggle_Switch2
SW5
Show 29 more
QtyPartRefs
1
TOGGLE_SWITCH3
Toggle_Switch3
SW6
5
D
D1, D2, D3, D4, D5
10
LED
D6, D7, D8, D9, D10, D11, D13, D14 +2
3
D
D12, D87, D111
94
D_TVS
D15, D16, D17, D18, D19, D20, D21, D22 +86
1
D_Zener
D109
2
8.2UH
8.2uH
L1, L2
1
0.1U
0.1u
C1
2
22UF
22uF
C2, C3
2
6.8UF
6.8uF
C4, C5
7
0.01 uF
C6, C7, C12, C13, C14, C15, C16
2
10NF
10nF
C8, C9
2
120UF
120uF
C10, C11
3
0.1UF
0.1uF
C17, C18, C19
42
100 pF
C20, C21, C22, C23, C24, C25, C26, C27 +34
3
200K
200k
R1, R2, R3
8
290
R4, R5, R68, R69, R70, R71, R74, R75
1
100K
R6
42
1k
R7, R8, R9, R10, R11, R12, R15, R16 +34
2
5.1K
5.1k
R13, R14
2
27
R21, R22
7
10K
10k
R47, R48, R49, R50, R51, R52, R53
14
4K
R54, R55, R60, R61, R64, R65, R66, R67 +6
2
6.2K
6.2k
R56, R58
2
1k
R57, R59
1
976
R62
1
1.54K
1.54k
R63
2
290
R86, R87
21
10k
R110, R111, R112, R113, R114, R115, R116, R117 +13

MRIRobot design files

The KiCad project lives in the biomimetics/MRIRobot_PCB repository on GitHub; these links point at the commit this page was built from.

MRIRobot: common questions

How big is the MRIRobot PCB?

The MRIRobot measures 200 × 99 mm, has 4 copper layers and is 1.6 mm thick.

How many components are on the MRIRobot?

330 components, from 49 distinct parts, with part numbers taken from the project's own BOM. The full bill of materials is listed on this page.

Where can I download the MRIRobot design files?

From the biomimetics/MRIRobot_PCB repository on GitHub, which has the KiCad layout, the schematic and the BOM; the links under Design files point to each one.

Can I use the MRIRobot design in my own project?

The repository has no license, so all rights stay with biomimetics. Use it as a reference, and ask the author before reusing the design.

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