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Intermediate build

How to build JPL Open Source Rover

10-DoF six-wheel rocker-bogie rover · Intermediate

Build NASA JPL's Open Source Rover: rocker-bogie suspension, 6 GoBilda drive motors, 4 steering servos and a Raspberry Pi, with a priced parts list of about $1,318.

Start the buildProject files
Difficulty
Intermediate

Some soldering, calibration and Linux comfort needed.

Build time
2–4 weekends

Our estimate, part-time

Parts cost
$1,318

$1,318 total from the OSR parts list

Degrees of freedom
10

Apache-2.0

What is JPL Open Source Rover?

JPL's Open Source Rover (OSR) is a scaled-down version of the six-wheel rocker-bogie design used on Mars, built almost entirely from GoBilda parts you can buy online.

It has six Yellow Jacket drive motors and four corner steering servos for Ackermann steering, with a differential pivot linking the rockers. A Raspberry Pi runs the control stack.

The repo has mechanical, electrical and software docs plus a priced parts list (Apache-2.0). The full CAD is a public Onshape document.

JPL Open Source Rover specifications

DoF
10 (6 drive, 4 steer)
Suspension
Rocker-bogie + differential
Wheels
GoBilda Wasteland 144 mm
Compute
Raspberry Pi

Figures as published by the project. See Sources below.

Bill of materials

PartQtyNotes
GoBilda Yellow Jacket motor6
GoBilda Wasteland wheel6
GoBilda 2000 dual-mode servo4
GoBilda ServoBlock4
Raspberry Pi, battery and power electronics—
Where's the full bill of materials?

The full BOM, with exact quantities and vendors, lives in the project's own files. Prices change often, so treat $1,318 as a ballpark from the project. Start at the project repository.

Tools you'll need

  • Hex drivers
  • Soldering iron
  • Crimping tool

Step-by-step build overview

Electronics & wiring overview

The Pi commands the motor controllers over serial and the steering servos over PWM, all from one battery through a fused distribution board.

Battery packpower sourceLaptop / PChigh-level controlcamerasensingRaspberry Pireal-time controllerServo bus adapterdrivers / bushobby/smart servos10 joints / motors
PowerData / commandsSensor feedbackOverview only. Follow the project's own schematic for pinouts and voltages.

Software

The project ships its own firmware and control code. See the repository for setup.

Apache-2.0 ROS stack in the repo.

Tips from the bench

  • ☕ Check the differential bar's alignment, because binding there hurts climbing.

JPL Open Source Rover FAQ

How much does the JPL rover cost?

The parts list totals about $1,318.

Sources

Written by Bots n' Beans from the project's own documentation. Check the sources for the latest revision before you buy parts.

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