Asembly of Magni 6 Mini

This guide provides clear, step-by-step instructions for assembling the Magni 6 Mini robot.

Note

If any parts are missing, refer to the Magni BOM for ordering details. For unavailable items, contact Ubiquity Robotics support.

[TODO: We will add the link to the Magni 6 BOM order details here.]

Build Requirements

Before starting, ensure all required components are available. The tables below list the Magni 6 Mini Bill of Materials (BOM). Use specified BOM items to avoid assembly issues, though simiral components may be substituted if necessary.

Screws BOM

BOLT M2,5x14 ((8.8) Zn) ISO 7380

5

BOLT M2,5x10 ((8.8) Zn) ISO 7380

2

BOLT M2,5x8 ((8.8) Zn) ISO 7380

17

BOLT M2x14 ((8.8) Zn) ISO 7380

2

BOLT M2x5 ((8.8) Zn) ISO 7380

8

BOLT M2,5x5 ((8.8) Zn) ISO 7380

2

BOLT M4x8 ISO 7380

10

WASHER 2,7 (Zn) DIN 125

22

WASHER 4,3 (Zn) DIN 125

6

SPACER L=12 F_M2,5

4

PCB PUSH PIN WITH SPRING

2

Other BOM

BASIC

1

TOP COVER

1

FRONT COVER

1

FIREWALL

1

BATTERY HOLDER

1

HEAT SINK

1

MOTOR WHEEL

2

CAMERA MODULE 3 V8

2

5.5 x 2.1 mm DC POWER CHARGER

1

SINGLE BALL ROLLER BEARING

1

RUBBER TYRE

2

ON/OFF ROCKER SWITCH

1

LIDAR

1

RASPBERRY 5

1

MOTOR BOARD

1

BATTERY

2

SONAR

15

COVER CAP

16

LIDAR

1

RUBBER PAD

1

MOTOR WHEEL

2

RUBBER SOCKET

1

Assembly Intructions

Final Assembly Preview

Magni 6 Mini Preview

Step-by-Step Assembly

  1. Attach Roller Bearing to Base

    Secure the SINGLE BALL ROLLER BEARING and RUBBER PAD to the BASIC sheet metal part using 2x BOLT M2x5 (8.8) Zn) ISO 7380. Tigthen genrly with a hex key using two-finger pressure to avoid overtightning.

Chasis Image

Bearing adding with rubber. Bearing added and screwing.

  1. Prepare Motor Wheels

    Take MOTOR WHEEL and BASE.

Motor Wheel and Base

  1. Insert Motor Wheel Connector

Slide the small MOTOR WHEEL connector diagonally through the base opening.

Sliding motor wheel connector through opening pic 1. Sliding motor wheel connector through opening pic 2.

  1. Insert Second Connector

Push the second MOTOR WHEEL connector through the opening, ensure the orientation is correct.

Sliding motor wheel connector through opening pic 1 Sliding motor wheel connector through opening pic 2

  1. Secure Motor Wheel

    Use 3x BOLT M4x8 ISO 7380. Thread each bolt lightly by hand. Tilt the base so the wheel faces up, then the second and third bolts.

Installing motor wheel on the chasis pic 1 Installing motor wheel on the chasis pic 2

Screwing motor wheel to the chasis.

  1. Tighten Motor Wheel Bolts

Fully tighten all three bolts with an Allen key.

Tightening motor wheel on the chasis

  1. Repeat for the Other Side

    Follow steps 2-6 for the second MOTOR WHEEL.

Chasis with Motor Wheels Installed

  1. Prepare Firewall

    Cut two 70x20 mm strips of double-sided thermally conductive tape. Apply to FIREWALL and remvoe protective film.

Firewall Firewall with tape. Firewall with tape pilled.

  1. Mount Motor Controller Board

Press the MOTOR BOARD onto the tape, aligning mounting holes with FIREWALL slots.

MCB preview. MCB with FIREWALL.

  1. Secure Firewall to PCB

Use Spacer L=12 F_M2.5, WASHER 2.7, and BOLT M2.5x8 ((8.8) Zn) ISO 7380 to attach FIREWALL to PCB.

Warning

Do not tighten fully!

FIREWALL to PCB installation pic 1. FIREWALL to PCB installation pic 2.

  1. Add Rubber Pads

Place a 15x10x3 mm RUBBER PAD between FIREWALL and MOTOR BOARD at the PCB edge to ensure the components are parralele to one another. Tighten bolts gently with two-finger pressure. Repeat for the other side.

Note

The PCB and FIREWALL should be PARALLEL!

Rubber between MCB and FIREWALL pic 1. Rubber between MCB and FIREWALL pic 2.

  1. Secure Top Side of Firewall

Use SPACER L=12 F_M2.5, WASHER 2.7, and BOLT M2.5x8 ((8.8) Zn) ISO 7380 to gently tighten the top side of FIREWALL and PCB.

Important

Check that the components are in parralel to one another.

Adding HEATSINK to MCB. MCB with standoffs.

  1. Install Firewall Assembly

Slide the FIREWALL assembly into the BASE.

FIREWALL in the base

  1. Secure Firewall Bottom

Use BOLT M2.5x8 ((8.8) Zn) ISO 7380, WASHER 2.7 to firmly tigthen the bottom of FIREWALL to BASE.

Bolting FIREWALL to BASE pic 1. Bolting FIREWALL to BASE pic 2.

  1. Secure Firewall Side

Use BOLT M2.5x8 ((8.8) Zn) ISO 7380, and WASHER 2.7. Thread lightly with an Allen key.

Note

Final tightening will be done after full assembly.

Bolting side of FIREWALL to the BASE pic 1 Bolting side of FIREWALL to the BASE pic 2

  1. Connnect Left Motor Wheels

Attach the small left MOTOR WHEEL connector to the left side of the MOTOR BOARD. Be sure to turn it correctly.

Connect Motor Wheel Connector to the MCB middle pic 1 Connect Motor Wheel Connector to the MCB middle pic 2

  1. Connect Large Left Motor Connector

Attach the large left MOTOR WHEEL connector to the MOTOR BOARD, orienting and routing the wire as shown.

Connecting Motor Wheel Connector to the MCB top

Note

Left wheel connectors attach to the left side of the MOTOR BOARD. And the right wheel connectors to the right side.

  1. Route Rigth Motor Wires

Ensure right-side wiring matches the pictures below.

Correct Wiring Motor Wheels to MCB upper pic 1 Correct Wiring Motor Wheels to MCB upper pic 2

Correct Wiring Motor Wheels to MCB lower pic 1 Correct Wiring Motor Wheels to MCB lower pic 2

  1. Connect Connection Board

Gently push the CONNECTION BOARD connectors (red circle) into the MOTOR BOARD until fully engaged.

Connection board to MCB connection.

  1. Secure Connection Board

Use 4x BOLT M2.5x8 ((8.8) Zn) ISO 7380 to fasten the CONNECTION BOARD to the MOTOR BOARD through standoffs.

Note

Tighten them carefully.

Bolting PCB controller to MCB pic 1 Bolting PCB controller to MCB pic 2

  1. Connect Ground Wire

Attach the ground female spade crimp terminal from the wire harness to the ground pin on the MOTOR BOARD.

Wires together. Black connector connected to the spade of the MCB

  1. Prepare Rasbperr Pi 5

Cover the Raspberry Pi 5 CPU with double-sided thermally conductive tape and remove the protective film from the tape.

Covering PCU with double sided conductive tape pic 1 Covering PCU with double sided conductive tape pic 2

  1. Gather Heatsink Components

Take HEATSINK, 2x PCB PUSH PIN WITH SPRING, and the previosly prepared Raspberry Pi 5.

HEATSINK and RPI5

  1. Attach Heatsink

Position HEATSINK on Raspberry Pi 5 as shown in the picture and secure with 2x PCB PUSH PINS WITH SPRING.

HEATSINK on RPI5.

  1. Connect Raspberry Pi to Connection Board

Connect the Raspberry Pi HAT & GRIPO INTERFACE connector together with CONNECTION BOARD as shown in the picture.

Connecting RPI to PCB connector pic 1 Connecting RPI to PCB connector pic 2

  1. Secure Raspberry Pi (Part 1)

Ensure the HEATSINK contacts the BASE metal sheet and USB/Ethernet ports are accesible. Use 1x BOLT M2.5x8 ((8.8) Zn) ISO 7380 with WASHER 2.7 and tigthen gently.

Warning

Do not tighten the screw fully.

Screwing the RPI+HEATSINK on the chasis top view. Screwing the RPI+HEATSINK on the chasis outside view.

  1. Secure Raspberry Pi (Part 2)

Insert another BOLT M2.5x8 ((8.8) Zn) ISO 7380 with WASHER 2.7. Press Raspberry Pi 5 to center USB/Ethernet ports in the slot, then tigthen gently.

Properly screwing the RPI to the chasis pic 1. Properly screwing the RPI to the chasis pic 2.

  1. Secure Firewal Bottom

Use 2x BOLT M2.5x8 ((8.8) Zn) ISO 7380 with WASHER 2.7 to fasten FIREWALL to BASE at the bottom of the robot.

Screwing the FIREWALL with BASE bottom view pic 1. Screwing the FIREWALL with BASE bottom view pic 2.

  1. Install On/Off Switch

Press the ON/OFF ROCKER SWITCH into the slot. Make sure you follow the picture bellow.

Important

Pay attention to the position of the dot on the switch. The dot needs to be on the bottom.

Adding the ON/OFF rocker to the BASE pic 1. Adding the ON/OFF rocker to the BASE pic 2.

  1. Install DC Power Charger

Push the 5.5 x 2.1 mm DC POWER CHARGER through the opening as shown in the picture below.

Adding DC POWER CHARGER to the BASE

  1. Align DC Charger

Align the first flat part of the charger with the slot and push through the sheet metal as shown in the picture below.

Position charger correctly.

  1. Secure DC Charger

Attach the nut to the charger connector.

Adding the NUT to the power charger.

  1. Tighten DC Charger

Ensure that the connector is properly aligned as shown in the picture. Then hand-tighten the nut.

Aligning the nut to the charger and hand-tighten it

  1. Prepare Front Hatch

Take FRONT COVER of the Robot and CAMERA 3 WIDE.

Front hatch of the robot Camera WIDE.

  1. Attach Camera to Front Cover

Use 4x BOLT M2.5 ((8.8) Zn) ISO 7380 to secure the CAMERA to the FRONT COVER. Tigthen with Allen key using two-finger pressure.

Tightening the CAMERA to the FRONT HATCH pic 1. Tightening the CAMERA to the FRONT HATCH pic 2.

  1. (OPTIONAL) Second Camera

Use 4x BOLT M2.5 ((8.8) Zn) ISO 7380 to attach a second CAMERA to the FRONT COVER, tigthening with two-finger pressure. The robot ships with one camera. You may add a second or reposition the first for a different angle.

  1. Install Cover Caps on Front

Press COVER CAPS firmly into the FRONT COVER by hand.

Tip

Use steady hand pressure to secure the caps.

Warning

Try to avoid pinching your fingers while pressing the caps. As this may lead to some pain.

Inserting the cover caps into the FRONT HATCH pic 1. Inserting the cover caps into the FRONT HATCH pic 2.

  1. Preparing Top Cover and LIDAR

Just like for the FRONT COVER, insert COVER CAPS into the TOP COVER. Secure LIDAR to the TOP COVER with 2x BOLT M2x14 (8.8 Zn) ISO 7380, tigthening gently with two-figer pressure.

Aligning the nut to the charger and hand-tighten it

  1. Install First Battery

Position the first BATTERY in the BASE according to the pictures below. Pay close attention to its orientation.

Adding first battery to the robot upper pic 1. Adding first battery to the robot upper pic 2.

Adding first battery to the robot lower pic 1. Adding first battery to the robot lower pic 2.

  1. Install Second Battery

Use the BATTERY HOLDER to secure the second BATTERY in the BASE as shown in the picture.

Adding second battery to the robot with battery holder pic 1. Adding second battery to the robot with battery holder pic 2.

  1. Properly Adding the Second Battery

Be careful with the wires.

Adding second battery, being carefull with the wires.

  1. Connect Batteries in Series

Attach the yellow-green wire: red connector to the RED spade of the first battery, black connector to the BLACK spade of the second battery.

Note

Red connector from the wire goes to the RED spade of the first battery. Black connector of the wire goes to the black spade of the second battery.

Connecting the batteries in series pic 1. Connecting the batteries in series pic 2.

  1. Connect Black Spade to Battery

Take the wire harness and connect the black female spade terminal to the negative battery pin as shown in the picture. Press it in firmly.

Wire harness with shown black connector. Connecting the wires to the batteries.

  1. Connect Black Spade to Ground

Grab the only free black female spade connector and attach it to the GND pin on the CONNECTOR BOARD as shown in the picture.

Wire black connector with green circle. Wire black connector added to the MCB with green circle.

Close up image of the wire to the MCB with green circle.

  1. Connect Red Spade and Charger

Attach the short RED spade connector to the positive battery pin (green circle). Connect the charger connector to the 5.5 x 2.1 mm DC POWER CHARGER (yellow circle). Finally connect the BLACK spade connector to the negative spade of the first battery (blue circle).

Wires with green and yellow circle. Wires connected to the battery with yellow and green circle.

  1. Connect Red Spade to Switch

Attach the remaining red spade connector to the upper pin of the ON/OFF switch.

Rest of the wires with green circle. ON/OFF SWITCH with green circle for upper spade connector.

  1. Connect Second Wire Harness

Use the wire harness with 3 red spade connectors. Attach the split connector (yellow circle) to the bottom pin of the ON/OFF SWITCH.

Second wire harness with green circle.. ON/OFF SWITCH with green circle for lower spade connector.

  1. Connect Remaining Spade Connectors

Attach on red spade connector to the 12V pin on the CONNECTION BOARD and the other to the 12V pin on the MOTOR BOARD.

Second wire harness with green and yellow circle. MCB with green and yellow circle.

  1. Verify Wiring

Ensure all spade connectors are firmly attached. Route wires as shown.

Important

Double-check that all connections (all pins are firmly connected).

Note

UPDATE of the WIRE ROUTING is coming soon.

[TODO: Add image here without the wires being taped/secured to the second battery.]

Final wiring.

  1. Attach Top and Front Covers

Position TOP COVER and FRONT COVER. Use 2x BOLT M2.5x10 ((8.8) Zn) ISO 7380 with washers, tigthening with two-finger pressure. Fully tigthen with an Allen key once aligned.

Adding and screwing front cover to the robot.

  1. Secure Front Cover Bottom

Use BOLT M2.5x8 ((8.8) Zn) ISO 7380 with WASHER 2.7 to tigthen the bottom of the FRONT COVER with two-finger pressure.

Screwing lower part of front cover to the robot.

  1. (OPTIONAL) Top Cover Securing

Use BOLT M2.5x8 ((8.8) Zn) ISO 7380with WASHER 2.7 to secure the TOP COVER. Tigthen lightly with two-finger pressure. This step is optional

Note

This step is optional, as the cover’s weight may be enough to keep itself shut.

Tip

If you are opening and closing the TOP COVER repeatedly then we suggest to avoid this step.

[ FIXME: This should be secured from the other side. I think. ]

Screwing the top cover to the robot.