HardLabs

Home robot

liorknafo·home-robot·home-robot-r1/pcb/r1_power_io.kicad_pcb

Home robot PCB layout, top view — open source RP2040/RP2350 board by liorknafo

About the Home robot PCB

Home robot is an open source RP2040/RP2350 PCB design by liorknafo, published on GitHub under the MIT license. It is a 4-layer board measuring 73.9 × 100 mm, with 62 components from 40 distinct parts.

Its main chip is the Pico left row, from the RP2040/RP2350 family. Other key parts include the Pico right row, GY-521 MPU-6050, DRV8874 left, VM/EN/PH row, DRV8874 left, VIN/OUT row and DRV8874 right, VM/EN/PH row. By type, the board carries 23 resistors, 15 connectors, 9 ICs, 5 transistors, 3 LEDs and 3 capacitors.

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

From the project

R1 round home robot: Jetson Nano, CadQuery CAD, 4-layer power & I/O board (KiCad), Unreal 5.8 simulator and Python autonomy (LiDAR mapping, camera obstacles)

A round (Ø 318 mm, 155 mm tall) differential-drive home robot built around an NVIDIA Jetson Nano, together with the Unreal simulator and the Python autonomy stack it is developed against.

Status: work in progress. Nothing has been ordered or printed yet.

- Compute: Jetson Nano B01 on standoffs over the motors. - Board: a 74 × 100 mm 4-layer power & I/O board under the Jetson. It carries: - a Raspberry Pi Pico for real-time I/O; - two Pololu DRV8874 motor drivers; - a GY-521 (MPU-6050) IMU; - fuses, a relay and connectors. - Sensors: - an LDROBOT LD14 (D200) 2D LiDAR at 147.5 mm; - one…

Main components on the Home robot

Pico left rowPico right rowGY-521 MPU-6050DRV8874 left, VM/EN/PH rowDRV8874 left, VIN/OUT rowDRV8874 right, VM/EN/PH rowDRV8874 right, VIN/OUT rowRegulator in (P03 module)Regulator out (P03 module)

Home robot bill of materials (BOM)

62 components, 40 distinct parts — part numbers from the project's BOM.

QtyPartRefs
1
Pico left row
U1A
1
Pico right row
U1B
1
GY-521 MPU-6050
U2
1
DRV8874 left, VM/EN/PH row
U3L
1
DRV8874 left, VIN/OUT row
U3P
1
DRV8874 right, VM/EN/PH row
U4L
1
DRV8874 right, VIN/OUT row
U4P
1
Regulator in (P03 module)
U5A
1
Regulator out (P03 module)
U5B
5
2N7002
Q1, Q2, Q3, Q4, Q5
1
Battery in
J1
1
Master rocker
J2
1
Jetson 5V
J3
1
Left motor
J4
1
Right motor
J5
1
Cliff 1
J6
1
Cliff 2
J7
1
Cliff 3
J8
1
Cliff 4
J9
1
Bumper L
J10
Show 20 more
QtyPartRefs
1
Bumper R
J11
1
Arm button
J12
1
Motor toggle loop
J13
1
Spare I2C
J14
1
Spare GPIO
J15
1
7.5 A ATO
F1
1
5 A ATO
F2
1
G5LE-1 DC5
K1
2
green
LED1, LED2
1
yellow
LED3
1
SS14
D1
1
470uF 25V
C1
1
100nF
C2
1
100uF 16V
C3
7
100k
R1, R3, R5, R7, R9, R11, R17
10
10k
R2, R4, R6, R8, R10, R13, R14, R15 +2
1
33k
R12
2
4.7k
R19, R20
2
3.3k
R21, R23
1
1k
R22

Home robot design files

The KiCad project lives in the liorknafo/home-robot repository on GitHub; these links point at the commit this page was built from.

Home robot: common questions

What microcontroller does the Home robot use?

The Home robot is built around the Pico left row, from the RP2040/RP2350 family.

How big is the Home robot PCB?

The Home robot measures 73.9 × 100 mm, has 4 copper layers and is 1.6 mm thick.

How many components are on the Home robot?

62 components, from 40 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 Home robot design files?

From the liorknafo/home-robot 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 Home robot design in my own project?

Yes, under the terms of its MIT license, which liorknafo chose for the repository.

Can I test firmware for the Home robot without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug RP2040/RP2350 firmware against it before you order a PCB.

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