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Teardown - Mobile Industrial Robots MiR100

The scope of this teardown is to provide a step by step disassembly guide in order to uncover all components.
We believe that hardware-wise the MiR family in general is a really interesting platform.
Since most of its parts are made by third parties, it's easy and understand what each part does and why is there,
therefore maning this robot very friendly to be serviced and repaired on the eventuality that some component gives up the ghost.

Although this might just be a happy unforseen consequence seeing that some parts are held by screws,
and some others, (thankfully, the minority) are riveted.

If you have your tools ready, let us begin.

TOOLS REQUIRED

Torx
T20

S.Wrench
7mm

Step by step Teardown

Step 1: Remove the upper shell

Lift the top shell

The top shell just sits on top of a metal frame in order to protect the electronics inside.
Lift it up.

Dissconnect the Main Switch

To prevent any potential movements you should dissconnect the main power line by
flipping down the circuit breaker switch

A deeper Look

When we opened our MiR for the first time we were kind of surprised, compared with other robotic platforms (stay tuned šŸ˜ˆ) revealed a lot of third party components with next to no propietary hardware from Teradyne itself.

Step 2: Disconnect LED Strips

Disconnect LED Strips

Disconnect the LED molex connectors located on the corners

Location of the connectors

There are 4 connection points. Each one located a corner. They are daisy-chained together.

Step 3: Remove the fenders

Unscrew the fenders

There is two screws per fender, each with a poliamide washer use a T20 bit.

Remove the fenders

Mind that they are latched by a metal lip below, so tilt the top slightly towards you and slide it downwards to get them out.

Step 4: Remove the battery

Remove the retaining plate

The retaining plate is held in place by 4 torx screws located in the corners by the ultrasound sensors.

Remove the connectors

Remove the power connector and the sensor data line from the battery. Then remove the battery with caution.

Step 5: Remove the cage covering the Teensy

Remove the cage

Remove the cage covering the teensy and the LED Controller board by unscrewing two torx screws.

Free the Speaker

The two screws closer to the speaker release the speaker holder. It is advised to hold the speaker when unscrewing in order to prevent an accident.

Step 6: Remove the Roboteq cage

Remove the cage

Remove the 6 screws holding the cage that covers the motor controller.

Expose the Roboteq controller

Start by unscrewing the two screws located on the sloped panel and slide it out. Then the other 4.

Step 7: Remove the Front plate

Remove the Front plate

Unscrew the 4 torx screws that hold the charging pads and the SLAM cameras.

Disconnect Wires

Remove the terminals from the charging pads. Take note of the polarity before disconnecting. Remove the USB wires from the SLAM cameras.

Step 8: Free the onboard PC

Remove the retaining plate

Remove the front plate protecting the PC by unscrewing 4 crews on the side.
Then disconnect the Ultrasound sensors.

Release the NUC

Proceed to disconnect all the connectors with care.
Lastly remove the two screws on the top and release the NUC.

Step 9: Free the Router

Remove the nuts

Using a 7mm socket wrench, remove the 4 autolock nuts.

Remove the cables

Disconnect the power and ethernet wires, then take out the router.

Good Job!

With this part concluded, we can go ahead and list all the components inside the body.

Components in detail

Phoenix Contact Quint Power

24V Power Supply

Schneider Electric LC1D65A

Low voltage D-line contactors

Schneider Electric LC1D18BL

Motor control resistive load contactor

Schneider Electric IC60N

Circuit breaker

Schneider Electric RSB1A120BD

General purpose relay

Roboteq SDC2160MR

DC motor controller

Teensy 32

Teensy 3.2 plus LED controller carrier board

Fuse Board

Board containing fuses of different values.

SICK Safety PLC

Composed by the following modules:
FX3-CPU130002
FX0-GENT00000
FX3-XTIO84002
FX3-MOC000000

Schneider Electric LC1D093BL

3-pole reversing contactors for motor control

Siemens 5tt5 0332

Contactor

Thyrector board

Protection mechanism against voltage spikes induced on connected wires.

Gefeg-Neckar Motor Assembly

Made out of the following parts:
RV 30 incremental encoder
PN 8390 Motor
SC401H Single-stage worm gear

SICK S30B-2011BA

Safety laser scanner

Disclosure notes

At Alias Robotics we encourage a security-first approach to robotics. One that focuses on continuous monitoring and management of robot security risks and threats, leveraging modern tools and automation techniques to ensure that, at all times, the robots stay safe and secure. We strongly believe that vulnerability disclosure is a two-way street where both vendors and researchers must act responsibly. Teardown, as a process, is an essential part of a security research and brings useful lessons and insights for the design of current and future robotic systems. Generally, teardown supports Kerckhoffs' principle in revealing all the details and weaknesses of a security system. Overall, the history of proprietary systems violating Kerckhoffs' principle by pursuing security through obscurity is rich of failure cases (with the military domain as the sole exception). We advocate against security by obscurity.

Alias remains committed to treating all vendors strictly equally and we expect to be held to the same standard.