Cheap, phone-controlled or automated vacuum robot you can 3D print and build for ~$150.
The catch: for autonomous mode you need an iPhone Pro — which costs significantly more than the robot itself. Yes, we're aware of the irony.
I kept wondering: can an iPhone act as a robot brain?
So, this is the MVP — a proof of concept built from whatever parts I could get my hands on. Not pretty, not perfect, but it moves, it sucks, and it's controlled by a phone. That was the goal.
The idea is that the iPhone handles the smart stuff — navigation, vision, decision making — while cheap hardware (ESP32, motors, 3D printed frame) handles the physical world. iblowy is the first thing I built to test that idea.
One early headache: I tried passive suction first, like most modern robot vacuums use. To get decent passive suction you need a very fast motor — and I'd already spent $15 on the 1000KV brushless, so... that wasn't happening. If you want to go that route, either design your own high-speed impeller or just buy a premade one. :) After a few failed prints I scrapped it and went old-school: active direct suction, the same design principle as classic upright vacuums. Turns out it's far more effective and made the whole design simpler. Sometimes the old way is the right way.
Uses a direct suction fan design (classic vacuum architecture) driven by a brushless motor, two side brushes, and an ESP32 for WiFi control via the iroslink app. Supports both manual and autonomous driving modes.
App status: iroslink is currently in beta — download and test it free at the link above. iOS TestFlight: testflight.apple.com/join/FvGXatTx
*The real thing. :) *
| Top view | Bottom view |
|---|---|
 |
 |
Cross-section — direct suction path through snail housing into dustbox
- WiFi control via iroslink app (manual + auto modes)
- Direct suction fan (brushless motor + snail housing)
- Left + right side brushes for edge cleaning
- Removable dustbox with nonwoven fabric filter
- Fully 3D printable — no supports needed, ~700g PETG
Filter warning: Nonwoven fabric filter is cheap and effective but may trigger allergies in sensitive users. Swap for a HEPA-compatible alternative if needed.
Full parts list with prices and links: BOM.md
All parts print without supports.
| Setting | Value |
|---|---|
| Material | PETG |
| Infill | 20% |
| Layer height | 0.2mm |
| Supports | None |
All STL files are in the objs/ directory. Source CAD (Fusion 360 .f3d + .step) is in cad/.
- Flash ESP32 firmware: github.com/iROSLink/iroslink-esp32
- Follow the setup instructions in that repo to configure WiFi credentials.
- Download the iroslink app (beta) and connect your ESP32 over local WiFi. Have fun.
- Requires iPhone Pro — the "cheap robot" needs a $1000+ phone to go autonomous. I know.
- No wheel encoders — current version is open-loop; autonomous mode uses timed turns
- Manual wiring — no PCB yet, connections are hand-soldered
- App in beta — expect rough edges; report issues through the app
- Filter — nonwoven fabric may cause allergies; swap for a HEPA alternative if needed