Page Comparison

Just a place to dump ideas for now.

Motion Control System

ClearCore Industrial I/O and Motion Controller Platform; $99 (teknic.com)

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• Integrates with servo or stepper motors and sensors easily

• Provides all necessary I/O

• Relatively easy to program (compared to other non-purpose-built options)

• Small, easy to integrate

• VERY flexible

• Can work standalone or controlled by an external PC like a Rpi or anything else

• Low cost

CPM-MCVC-2310S-RLS | torque = 223 oz-in, speed = 4000 rpm (teknic.com)

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• Integrated motor driver and position feedback

• Much higher power for the size than steppers

• Good IP rating for weatherization

• Integrates well with ClearCore motion controller (although they can both work with other 3rd party systems)

• Large voltage range, can be directly battery powered

Ewellix - CAHB-10-B5A-100209-AAAA0A-000 - Linear actuator, 24VDC, 100mm stroke, 1000N push force, 43259 mm/s unloaded SPD - Allied Electronics & Automation, part of RS Group

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Document Update in Progress

Project Goals

• Build a robust and capable robotic system for carrying the image acquisition payload in its execution of the image repository project.

• Work well in all expected semi-field conditions.

• Exceed the performance of previous versions of BenchBot.

  • Throughput

  • Reliability

  • Autonomy

• Be capable of fully automatic operation without an operator on site.

• Be robust enough to withstand direct exposure to the elements for multiple seasons with reasonable maintenance.

• Be straightforward to assemble on site with available resources.

  • Field configurable to various site sizes.

  • Not require significant specialized trades on site.

• Support future payloads in addition to the image acquisition system.

Working Assumptions

• 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.

• 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.

Project Requirements

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.

Usage Example

Image Added