The components of the spool were dimensioned and toleranced using SolidWorks to facilitate fabrication for future users.

The spool components were designed in CAD and are shown in an exploded view to aid the user in the assembly process

Soil buckets were replaced with concrete filled buckets to level and straighten out the system.

A level was used to ensure near perpendicularity of posts to the ground.

The vacuum functionality is strong enough to pick up larger seeds, like pumpkin seeds.

The vacuum nozzle comes in an array of sizes, and a different nozzle size must be used when working with smaller seeds, such as tomato seeds.

The UTM watering function is fully functional while suspended by the cable system

The vacuum pump and cover were moved to the underside of the UTM adaption plate to increase stability during positioning.

The original FarmBot tool head station was repurposed to be placed at the center of the workspace on the ground, using an aluminum extrusion and repurposed FarmBot brackets. Traditionally, this tool holder is placed along the exterior edge of the workspace.

A wooden plate with a design based on the cross gantry slide plate was made from wood to accommodate the UTM, camera, and vacuum pump. The system cables attach at the corners via swivel hooks.

The suction force of the seeder was insufficient using the given FarmBot vacuum pump tube. Replacing it with a tube more similar to the watering tube provided sufficient suction.

Higher quality swivel pulleys were purchased and reoriented to eliminate the undesired rotational freedom seen during the Proof of Concept Testing. This swivel pulley also has a wider diameter sheave to accommodate the thickness of rope selection.

The previously used plastic horizontal support brackets were swapped with aluminum FarmBot plates to brace the system. The plastic brackets were then used to mount the new swivel pulleys.

Although this system is being designed as weatherproof, the greenhouse currently serves as a realistic alternate environment and allows the team to continue working outdoors regardless of rain.

Outdoor animal mesh has been laid out as a grid to help the team visually assess the accuracy of the robot's movement.

Assembled with 3D printed spool, swivel pulley, and swivel hook

Secured to Braided Polyester Cable with a rope clamp

Bottom left post is home, with the X-axis parallel to the bottom edge of the image, and Y-axis on the left pointing away, toward the wall

Code breaks down movement into two parts. Positional Input was (1,0,0) and UTM plate ended in correct location

Motor and motor cover are reused, Spool was 3D printed

Swivel Pulley and Zip Tie were purchased separately

Buckets are for prototyping purposes only

Top most L bracket was purchased separately

Hardware setup

Aerial view: Small scale, three post configuration

3 Brushed DC Motors were wired in parallel to a power source

Nuts in the bag were used to simulate the mass of the UTM