Design in Progress
BenchBot v3 is a clean sheet design and will not specifically inherit any design aspects of previous versions.
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 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.
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.
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
Detailed System Diagram
Usage Example
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