Ideation

We wanted to make a CNC Farming bot just like Farmbot.

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Then we started to think how can we make a better version of this. One limitation which wanted to overcome was the fixed size of farmbot machine. In brainstorming session, one of our team suggested Spidercam like cable driven machine. This way we could scale the system to real large farm fields of for many agricultural automation, ranging from seeding, monitoring, watering, weeding etc.

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What we actually made

image ** Link to control interface: https://vamam2019.web.app/ ** 447aca7b-771f-4d73-88da-e7a279622ef1

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Who made what, how

Mechanism

Manoj did the math to determine the cable length as well as cable tension at given X,Y,Z. This was used in control system and stepper motor selection for actuation.

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Pooja and Tushar along with Manoj made following parts for mechanism. image

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Tushar along with Manoj did the following calculations for parts.

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End effector

Vaibhav was involved in design of end-effector which will do watering. 0eb016d0-494c-4fbb-8a1d-f6ab782c3052

Actuation

Manoj, Jayadip and Aditi we're involved in board design, fabrication and troubleshooting. We decided to divide the slave part in 4 design. 1.Design for Nema-17 motor board -4 nos.(for 4 pole each) 2.End effector board -1 No. 3.Servo motor board-1 No. 4.Shield for Arduino

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For electronic part of nema -17 motor board we referred this tutorial(by how to mechatronics)

We used magnetic lock by shorting the coils to lock the end-effector position during power off mode. It is necessary as the end effector is hanging. image

The BOM for all boards: image image image

Application Interface and Control system

Manoj wanted to making a version of Distributed Dataflow Machine Controllers. He used firmata in Arduino to setup a master-board along with johnny-five to program the virtual machine in Javascript. He the along with his sub-groupmates made stepper motor driver boards which consist of 'A4988 driver along with attiny44 MCU' as I2C slave boards. He used wire library for communication.

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He developed this control interface using (jQuery-Kontrol)["https://github.com/aterrien/jQuery-Kontrol"] and firebase's realtime database 'Cloud firestore'.

More details on this is on following pages: