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.
BenchBot V3 will use the standard Amiga (as of 2023) hardware + the Brain / navigation kit.
There will be a motion controller programmed by PSA between the “Brain” and the motors for real time control of the X and Z axis and will provide an API to the higher level system.
PSA software development will be beyond the API level and contained withing the scope of the payload project.
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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 |
|---|---|---|---|
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 |
Max Configurable Gantry Width | Gantry shall be configurable and fully functional / structurally sound to at least this width. | W_max >=9m | Draft |
Min Configurable Gantry Width | Gantry shall be configurable and fully functional / structurally sound to as little as this width. | W_min <=2m | Draft |
Max Configurable Tool Height | Gantry shall be configurable and fully functional / structurally sound to at least this height. | H_max >=3m | Draft |
Min Configurable Tool Height | Gantry shall be configurable and fully functional / structurally sound to as little as this height. | H_min <=1.5m | Draft |
Z Axis Travel Min | Z axis shall have at least this range of travel | Zt_min <= .5m | Draft |
Run Time (Power) | System shall contain sufficient battery capacity or have power tether to ensure all operations can be completed in a single session. | True | Draft |
Basic System Diagram
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Detailed System Diagram
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Usage Example
