Design in Progress
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BenchBot V3 is a clean sheet design and will not specifically inherit any design aspects of previous versions. |
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BenchBot and the Image acquisition system will be treated as separate but connected systems / projects. BenchBot Tool Interface - BenchBot - Confluence (atlassian.net)
They must work together through a defined electrical, mechanical, and control interface but will not have their designs intertwined unnecessarily.
V3 Image Acquisition System Requirements - BenchBot - Confluence (atlassian.net)
The system will be based on the Amiga robot from farm-ng.
This will save considerable development and manufacturing time by essentially providing a fully electrically / mechanically functional Y axis.
PSA (Mark Funderburk ) will design the gantry structure and X Z motion hardware partially using electronics hardware from farm-ng.
Farm-ng will develop an API to control the BenchBot through simple go-to X Y Z commands.
PSA will be developing any other custom hardware needed for BenchBot that farm-ng was not already developing for other applications.
PSA software development will be beyond the API level and contained withing the scope of the payload project.
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These requirements are derived from evaluating the performance needs of the Image Acquisition System (IAS) + other applications the BenchBot hardware may be utilized for in the future. However, the IAS is currently the primary payload of the BB and thus the requirements here will be designed to meet the minimum needs of the Image Repository project with additional applications considered where it will not interfere with IAS needs.
The value of many of these requirements is derived from existing semi-field scenarios to be sure we can make the most of the space and resources available.
Summary | Description | Allowable Limits | Status |
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Axis of Movement | Shall provide 3 integrated axis of movement X, Y, Z. | True | Draft |
Tool Head | Shall provide standard electrical & mechanical interface for mounting a toolhead (such as a camera or actuator). | True | Draft |
Tool Head Positioning Range | Shall be capable of positioning the tool head anywhere in an operating envelope defined by X, Y, Z dimensions offset by minimum or maximum height from the operating surface. | True | Draft |
Tool Head Position Accuracy | Shall be capable of positioning the toolhead in the operating envelope to this degree of accuracy. | +/- 1cm > PA | Draft |
Wheel Track Position Accuracy | Shall be capable of positioning the wheel track in the operating envelope to this degree of accuracy. | +/- 10cm > PA | Draft |
Tool Head Mass Light | Shall be capable of supporting a tool head of at least this mass in all operating areas. | 10kg < M | Draft |
Tool Head Mass Heavy | Shall be capable of supporting a tool head of at least this mass in all operating areas. | 50kg < M | Draft |
Assembly | Shall not require significant specialized labor to assemble onsite. | True | Draft |
Gantry Width Configurability | Gantry width shall be field configurable to a specified range without major design changes. | True | Draft |
Min Configurable Gantry Width | Gantry shall be configurable and fully functional / structurally sound to at least this width. | W_max >=6m | Draft |
Max Configurable Gantry Width | Gantry shall be configurable and fully functional / structurally sound to as little as this width. | W_min <=2m | Draft |
Basic System Diagram
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Detailed System Diagram
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