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Document Update in Progress
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BenchBot V3 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 |
Key
Summary
Description
Allowable Limits
Status
Axis of Movement
Shall provide 3 integrated axis of movement X, Y, Z.
Y axis movement will be accomplished by the Amiga robot via powered wheels in contact with the operating surface.
X & Z Shall be accomplished with a gantry system.
True
Draft
Tool Head
Shall provide standard electrical & mechanical interface for mounting a toolhead (such as a camera or actuator).
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
Min 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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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 <= |
Motion Components
Horizontal linear motion will be done with timing belts. As this is the most cost-effective way to make a repeatable weather resistant setup.
Vertical Motion will be accomplished with a stainless-steel lead screw. These are surprisingly affordable and offer the corrosion resistance and load capability we need.
Component
Cost estimate
Link / info
Notes
304 Stainless Steel Precision Acme Lead Screw
Right Hand, 3/4"-6 Thread, 6 Feet Long
$154
Plastic Externally Threaded Precision Acme Nut
Right Hand, 3/4"-6 Thread Size
$42
1.5m | Draft |
The concept design is for a 30ft wide gantry, but it can be configured in many widths, definitely smaller and possibly larger with further engineering verification.
pot height: 25cm + 40 cm + sensor min distance
Ask Lirong about what size plants she needs to use.
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Cost Estimation
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Component
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Cost estimate
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Link / info
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Notes
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Amiga Robot Base Unit
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$13k
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F34 Square Truss 3m straight segment (9.8ft)
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2 x $ 506 = $1012
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Global Truss Straight Square Segment for F34 Square Truss (bhphotovideo.com)
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Lots of other distributors for compatible truss (Keyword F34)
(Configure this to alter gantry width)
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F34 Truss 6-Way Junction Block
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2 x $392 = $784
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Global Truss Universal Junction Block (Silver) ST-UJB-12 B&H (bhphotovideo.com)
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F34 Square Truss 2m straight segment (6.6ft)
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2 x $392 = $784
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Global Truss Straight Square Segment for F34 Square Truss (bhphotovideo.com)
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(Configure this to alter gantry width)
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3M Horizontal linear rail guide
PBC Linear IVTAAQ Type
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2 x $852 = $1704
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IVTAAQ Bolt-On Integrated Linear Guide - Double Width (pbclinear.com)
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(Configure this to alter gantry width)
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3M Horizontal linear rail carriage
PBC Linear IVTAAQ
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$412
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IVTAAQ Bolt-On Integrated Linear Guide - Double Width (pbclinear.com)
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2M Vertical linear rail guide and carriage
PBC Linear IVTAAG type
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$760
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IVTAAG Integrated Linear Guides - Integrated Aluminum Extrusion (pbclinear.com)
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(Configure this to alter gantry height)
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Horizontal Travel Servo Motor
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$350
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TBD Exact Part
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Vertical Travel Servo Motor
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$550
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TBD Exact Part
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Equipment Box
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$200
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TBD Exact Part
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Linear guide mounting bracket
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26 x $20 = $520
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Laser cut Aluminum/steel plate (send-cut-send)
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Design Not Finalized
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Truss Base Mounting Plate
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4 x $117 = $468
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Laser cut Aluminum/steel plate (send-cut-send)
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Design Not Finalized
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Horizontal Drag Chain
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TBD
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Vertical Drag Chain
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TBD
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Current Total Estimate (will go up):
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$7,544 + $13k = $20,544
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 |
Usage Example
