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https://github.com/tsmorz/growbotics
Open-source mobile robot with a parallel link manipulator to aid in labor intensive farm activities. The goal is to assist with transplanting seedlings, monitoring plant health, and improving time to harvest estimates.
https://github.com/tsmorz/growbotics
delta-robot environmental-monitoring farming ipynb-jupyter-notebook jetson-nano python robotics stereo-vision
Last synced: 1 day ago
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Open-source mobile robot with a parallel link manipulator to aid in labor intensive farm activities. The goal is to assist with transplanting seedlings, monitoring plant health, and improving time to harvest estimates.
- Host: GitHub
- URL: https://github.com/tsmorz/growbotics
- Owner: Tsmorz
- Created: 2022-03-12T01:32:12.000Z (over 2 years ago)
- Default Branch: main
- Last Pushed: 2022-04-15T01:04:09.000Z (over 2 years ago)
- Last Synced: 2024-09-19T21:32:51.693Z (6 days ago)
- Topics: delta-robot, environmental-monitoring, farming, ipynb-jupyter-notebook, jetson-nano, python, robotics, stereo-vision
- Homepage:
- Size: 199 KB
- Stars: 1
- Watchers: 1
- Forks: 1
- Open Issues: 3
-
Metadata Files:
- Readme: README.md
- Funding: .github/FUNDING.yml
Awesome Lists containing this project
README
# OSCAR
**O**pen-**s**ource **C**ommunity **A**griculture **R**obot \
I intend for OSCAR to be an affordable farming assistant to help grow fresh produce on a local scale.
## Youtube video: [mobile robot planting seedlings from a greenhouse]()
[comment]: <> (https://www.youtube.com/watch?v=dQw4w9WgXcQ)
# Table of Contents
[Design](#Design) \
[Math](#Math) \
[Electronics](#Electronics) \
[Materials](#Materials) \
## Design
The following section describes the design of OSCAR and lists all original CAD files and STL files ready for a 3D printer.
Linkage Design Tool: [link](https://www.marginallyclever.com/other/samples/fk-ik-test.html)
CAD files: [link](https://cad.onshape.com/) \
All 3D models will be available for download as I keep progressing. Anyone with a free Onshape account can download them. If you have troubles getting access, please send me an email.
3D print files: [link](https://www.eiger.io/)
Soft Gripper:\
## Math
\
Forward Kinematics:
Each set of joint angles maps to a unique end effector position.\
The nonlinear mapping is calculated through the following equations:\
Inverse Kinematics:
Control Systems:
## Electronics
Wiring diagram for the manipulator and mobile robot platform. THIS IS A PLACEHOLDER\
## Materials
The table below details all necessary parts to build your own farm robot for personal use. Please send me any suggestions that you think would improve the design or lower the cost.
Prototype Version
| Item | Quantity | Cost (each) |
| ------------------- | :---: | ---: |
| [Ball joint](https://www.tqrcracing.com/shop/product_list.asp?s_cate_id=1104) | 16 | $1.75 |
| [Shaft adapter](https://www.pololu.com/category/137/pololu-universal-mounting-hubs) | 4 | $$ |
| [Stepper Motor](https://www.digikey.com/en/products/detail/pololu-corporation/1208/10449951) | 4 | $ |
| [Stepper Driver](https://www.pololu.com/category/212/tic-stepper-motor-controllers) | 4 | $ |
| [Springs](https://www.mcmaster.com/springs/spring-type~extension/extension-springs-with-hook-ends-7/system-of-measurement~metric/) | 16 | $ |
| [Carbon Rod]() | 3.5m | $$ | |
| [Limit Switch]() | 8? | digikey |
| [3D prints]() | lots | Markforged |
Production Version
| Item | Quantity | Cost (each) |
| ------------------- | :---: | ---: |
| [Stepper Motor](https://www.digikey.com/en/products/detail/pololu-corporation/1208/10449951) | 4 | $ |
| [Springs](https://www.mcmaster.com/springs/spring-type~extension/system-of-measurement~metric/) | 16 | $ |
| [Carbon Rod]() | 3.5m | $$ | |
| [Gears - small](https://www.mcmaster.com/3598N276/) | 4 - left | $19.74 |
| [Gears - large](https://www.mcmaster.com/3598N299/) | 4 - right | $29.81 |
| [Tap set screw]() | 8 | machine shop |
| [Optical Encoder]() | 4 | digikey |
| [Limit Switch]() | 8? | digikey |
| [3D prints]() | lots | Markforged |
## Assembly
The following instructions detail the logical assembly to build your robot.
1. These
2. are
3. the
4. necessary
5. steps
## Installation
Use the following commands to install the software on your Jetson Nano.
```
$ pip install oscar
```
## Planting Materials
The following materials are recommended planting supplies that fit with the robots specifications. \
http://www.jiffypot.com/en/products/jiffymultigrow.html