Automatic Cabinet Door Mechanism for Robot Vacuum (IKEA Metod + Aqara E1)

I designed this system to automatically open the cabinet door hiding a robot vacuum station under an IKEA Metodkitchen cabinet.

The vacuum was just a bit too tall to fit, so I created a rack & pinion mechanism driven by an Aqara E1 smart curtain motor, controlled by Home Assistant.

The Aqara E1 provides more than enough torque to swing the door open, and is powered only when needed via a smart plug triggered by the robot’s battery level and cleaning status.

Rack & Pinion Design

Two rack versions:

Full-length for large printers

Split version: two halves joined with printed pins (press-fit) + super glue.

The rack is held by a cover requiring M4 brass heat-set inserts.

3 M4 screws allow fine adjustment of the rack’s pressure/tolerance (fully tightened = optimal tolerance).

Cabinet Compatibility

Designed for IKEA Metod cabinets with Utrusta hinges.

Not tested on other cabinet types.

Included positioning guide helps place the mechanism correctly.

Rack arm is 6 mm recessed to allow magnets to hold the door closed.

Installation

Fix the base assembly inside the cabinet using the included positioning guide.

Position the Aqara motor with gear against the rack to find the optimal gear pressure.

Mark motor mounting holes.

Remove the base, mount the motor, then reinstall the base.

Print Settings

Material: PETG

Layer height: 0.3 mm

Rack: 4 walls, 30% infill (max rigidity)

Base: Extra perimeters in insert holes for strong insert grip

Inserts: Brass M4 heat-set inserts

Tolerances: Only tested with the above settings