Intro to FarmBot Genesis
DIY hardware platform optimized for small-scale soil-based food production
FarmBot Genesis is the first FarmBot to be designed, prototyped, and manufactured. Genesis is designed to be a flexible FarmBot foundation for experimentation, prototyping, and hacking. The driving factors behind the design are simplicity, manufacturability, scalability, and hackability.
Genesis is a small scale FarmBot primarily constructed from V-Slot aluminum extrusions and aluminum plates and brackets. Genesis is driven by NEMA 17 stepper motors, an Arduino Mega with a RAMPS shield, and a Raspberry Pi host computer. These electronics were chosen for their great availability, support, and usage in the DIY 3D printer world. Genesis can vary in size from a planting area as little as 1m^2 to greater than 50m^2, while accommodating a maximum plant height of about 1m. With modifications to some of the structural component sizes and an alternative X-direction drive system, the Genesis concept could scale up to a 1000m^2 planting area and a maximum plant height greater than 2m.
Interested in helping develop FarmBot Genesis?
Share your ideas on the FarmBot forum, the FarmBot wiki, make suggestions to these docs, or contact us at rory@farmbot.it.
Versions
In development
Genesis is currently being developed and has undergone several versions. We encourage skimming through the older versions to understand how we arrived at the latest design iteration.
V0.8
Under Construction. Major changes: all corrosion resistant design, thicker plates, improvements to the UTM, cable carrier brackets, and electronics enclosure
V0.7
Major changes: removal of endstops, stronger z-axis motor mount, added z-axis cable carrier, track plates and gantry corner plates redesign, upgraded universal tool mount to support 6 liquid lines and 12 electrical connections, quick access electronics enclosure, larger cable carriers
V0.6
Major changes: reliability improvements to the universal tool mount
V0.5
Major changes: rotary encoders on motors, integrated water, vacuum, and liquid amendments into universal tool mount, part simplification
V0.4
Major changes: electronics enclosures/housings, cable carrier cable management, magnetic universal tool mount design
V0.3
Major changes: wire and trolley cable management, part simplification
V0.2
Major changes: endstop integration, custom brackets and plates, universal tool mount
V0.1
Focused on being a quick and easy first prototype, V0.1 was constructed from all off-the-shelf components
High Level Architecture
Tracks
Tracks are one of the components that really differentiate FarmBot technology from traditional free-driving wheeled tractors. The tracks are what allow the system to have great precision in an efficient and simple manner. There are many reasons of why Tracks are superior, a few of which are listed below. You can also read about tracks and precision farming on this blog post.
- Tracks provide great precision and allow the the FarmBot to return to the same position repeatedly
- Any type of packing structure of plants can be created and managed
- Tracks take up less area than paths for tractor wheels and do not compact the soil
Gantry
The Gantry is the the structural component that bridges the two Tracks and moves in the X-direction via an X-Direction Drive System. Typically, it serves as a linear guide for the Cross-Slide and a base for the Y-Direction Drive System that moves the Cross-Slide across the Gantry in the Y-direction. It can also serve as a base for mounting other tools, electronics, supplies, and/or sensors.
Cross-Slide
The Cross-Slide moves in the Y-Direction across the Gantry. This motion provides the second major degree of freedom for FarmBots and allows operations such as planting to be done anywhere in the XY plane. The Cross-Slide is moved using a Y-Direction Drive System and functions as the base for the Tool Mount and Z-Direction Drive System.
Z-Axis
The Z-axis attaches to the Cross-Slide and provides the FarmBot with Z-Direction movement. It serves as the base for attaching the Universal Tool Mount and other Tools.
Raised Tracks vs Low Tracks
For FarmBots to properly grow taller plants, the Gantry, Cross-Slide, Z-Axis, and Tools must have adequate vertical clearance from the plants. This can generally be accomplished in two ways:
- Using raised tracks and a low-profile gantry
- Using low tracks with a tall gantry
In general, using low tracks with a tall gantry is the better design, especially for larger applications because it saves on material cost, is lest of an eyesore, blocks less sunlight, and would be easier to maintenance. However, in the case of a FarmBot being installed in a greenhouse or other structure, utilizing the existing walls to support the tracks higher may be a better solution.
