Embedded Files
View of Entire Cable Driven FarmBot Assembly
View of Entire Cable Driven FarmBot Assembly
The Aerial Farming System team created a 4 post system to utilize the existing right angled FarmBot components. The system's height and workspace boundaries are modifiable based on the positioning of the corner vertical posts, as well as the length of extrusions chosen for the vertical posts and horizontal braces. The frame itself was composed of repurposed aluminum extrusions that were previously used as x-axis tracks and brackets from the x-axis cable support system. With cement fixation, the system is less likely to succumb to undesired movement or slanting over time, keeping the posts upright and near perpendicular to the ground.
Vertical Movement
Vertical Movement
The team was able to achieve spooling and unspooling vertical movement of the system through concurrent activation of all four motors.
Vaccum Tool Function Test
Vaccum Tool Function Test
The Universal Tool Mount (UTM) modified assembly created by the Aerial Farming System team allows for activation of the vacuum pump. Installation of different FarmBot seeding nozzles allows the system to pick up seeds ranging in size from tomato seeds to pumpkin seeds.
Watering Function Test
Watering Function Test
The UTM modified assembly also allows for control of water flow to water the plants, which is an original FarmBot function. Water flow is controlled through a solenoid valve.
Winch Design
Winch Design
This exploded view of the spool design shows how the separate components can be assembled if the user were to fabricate a wooden spool by hand. If the user were to 3D print the spool, it would be a single component.
Stepper Motor and Winch Fixture
Stepper Motor and Winch Fixture
The image above shows the real life implementation of a 3D printed spool, which is attached to the stepper motor via threaded screws and a mounting hub.
Winch and Pulley System
Winch and Pulley System
The suspension of the V sheave pulley prevents undesired rotational freedom in the side-to-side and front-to-back directions. Planar rotation is allowed via the swivel feature, ultimately reducing the constraint and friction between the cable and pulley. The presence of the pulley decreases the overall tension force applied to the motor axis via the winch.
Swivel Hooks to UTM Plate Connection
Swivel Hooks to UTM Plate Connection
Swivel hooks and rope clamps were implemented to fasten the four cables to the UTM Plate Assembly. The rotational freedom of the swivel hooks helps to prevent crimping and kinking of the cables upon repeated spooling and unspooling.
CAD Rendering of UTM Assembly
CAD Rendering of UTM Assembly
The initial design of the modified UTM system was created using CAD software. This is the second design iteration, which has the FarmBot components suspended below the plate. The first design iteration involved the vacuum pump and housing resting atop the plate, with the UTM suspended below.
UTM Assembly with Seeder Tool
UTM Assembly with Seeder Tool
The modified UTM assembly can be powered to allow for seeding, weeding, watering, and soil sensing using the different FarmBot provided tool heads. The seeder tool head is pictured here.
Modified Tool Bays
Modified Tool Bays
The original FarmBot tool bays were placed along the exterior of the garden plot. However, the cable system can most easily access the tool heads when they are located central to the garden plot. The Aerial Farming System team created a modified structure that allows the tool bays to stand alone using repurposed FarmBot materials, like Gantry extrusions and Vertical Cable Carriers.
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