A REPORT ON

“FARMBOT”

PREPARED BY:
SRIJAN R. THAKUR (15012041066)
VATSAL M. PATEL (15012041054)
PARTH M. PATEL (16012042011)

DEPARTMENT OF MECHATRONICS ENGINEERING

U.V.PATEL COLLEGE OF ENGINEERING
GANPAT UNIVERSITY
GANPAT VIDYANAGAR – 384012
GUJARAT – INDIA
2018-19
 A REPORT ON

“FARMBOT”

A PROJECT REPORT SUBMITTED IN PARTIAL FULFILLMENT OF

THE REQUIREMENTS FOR THE DEGREE OF
BACHELOR OF TECHNOLOGY
(MECHATRONICS ENGINEERING)

BY
SRIJAN R. THAKUR (15012041066)
VATSAL M. PATEL (15012041054)
PARTH M. PATEL (16012042011)

UNDER THE GUIDANCE OF

PROF. D. K. SONI

AT THE
U. V. PATEL COLLEGE OF ENGINEERING
GANPAT UNIVERSITY
GANPAT VIDYANAGAR – 384012 GUJARAT – INDIA 2018-19
 CERTIFICATE

This is to certify that SRIJAN R. THAKUR the student of 8th semester

Mechatronics Engineering with Roll No. 15012041066, has satisfactorily
completed the course in “MAJOR PROJECT (2MC805)” within four walls of U. V.
Patel College of Engineering, Ganpat University in the year of 2018.

Date of Submission: ________________

External Faculty H.O.D (MC Dept.) Project Guide

Prof. J. P. Patel Prof. D. K. Soni
 CERTIFICATE

This is to certify that VATSAL M. PATEL the student of 8th semester Mechatronics
Engineering with Roll No. 15012041054, has satisfactorily completed the course in
“MAJOR PROJECT (2MC805)” within four walls of U. V. Patel College of
Engineering, Ganpat University in the year of 2018.

Date of Submission:

External Faculty H.O.D (MC Dept.) Project Guide

Prof. J. P. Patel Prof. D. K. Soni
 CERTIFICATE

This is to certify that PARTH M. PATEL the student of 8th semester Mechatronics
Engineering with Roll No. 16012042011, has satisfactorily completed the course in
“MAJOR PROJECT (2MC805)” within four walls of U. V. Patel College of
Engineering, Ganpat University, Kherva in the year of 2018.

Date of Submission:

External Faculty H.O.D (MC Dept.) Project Guide

Prof. J. P. Patel Prof. D. K. Soni
 ACKNOWLEDGEMENT

Our project has been a result of our own hard work but this project could not
have become a reality without the support and help of many of our friends and
faculty members. We take this opportunity to acknowledge their help and thank
them for their goodwill.
We would like to thank our Principal DR.KIRAN R AMIN and Head of
Department Prof. J.P.PATEL his unwavering support and kind co-operation. He
has been a great teacher and true mentor to us throughout our degree.
We would also like to thank our project guide Prof. D. K. Soni for his support
and conceptual help at various technical problems. We’ve had the opportunity of
being his students and have learnt a great deal from him. The very concept of the
project as well as its realization would not have been possible without him.
We would like to thank our Parents for supporting us and believing in this
project. Without their support none of this would never have been possible.
Lastly we would like to thank all the faculty members of Mechatronics
department for their support throughout the year.
Apart from our faculty members we’ve also gained a lot of experience and
expertise from interacting with our classmates and friends. We would like to
thank them all for being with us in this journey and making it memorable.
 PROJECT ABSTRACT

 The world’s population is growing and with that growth we must produce
more food. Due to the industrial and petrochemical revolutions, the
agriculture industry has kept up in food production, but only by
compromising the soil, the environment, our health, and the food
production system itself.
 The increased production has largely come from incremental changes in
technology and economies of scale, but that trend is reaching a plateau.
Conventional agriculture methods are unsustainable and a paradigm shift is
need-ed.
 FarmBot is automated precision farming machine and software package
designed from the ground up with today’s technologies. Similar to today’s
3D printers and CNC milling machines, FarmBot hardware employs linear
guides in the X, Y, and Z directions that allow for tooling such as plows, seed
injectors, watering nozzles, and sensors, to be precisely positioned and
used on the plants and soil.
 The entire system is numerically controlled and thus fully automated from
the sowing of seeds to harvest. The hardware is designed to be simple,
scalable, and hackable. Using the open source web based software
package, the user can graphically design their farm to their desired
specifications and upload numerical control code to the hardware.
 Other features of the software include storing and manipulating data maps,
a decision support system to facilitate data driven farm design, access to an
open data repository, and enterprise class analytics.
 2. Table of Contents
Abstract....................................................................................................................7
Table of Contents.......................................................................................................8
Figures …….………………………………………………………………………………………………………..9

1. FarmBot..................................................................................................................10
1.1. Precision………........................................................................................................11
1.2. Combining Polycrop and Monocrop Efficiencies..................................................11
1.2.1. Monocrops.......................................................................................................12
1.2.2. Polycrops..........................................................................................................12
1.3. Data-Driven Agriculture.......................................................................................13
1.4. Automation..........................................................................................................14
1.5. Scalability.............................................................................................................14
1.6. Increased Space Efficiency...................................................................................14
1.7. Eliminated Soil Compaction.................................................................................15
1.8. Continuous Land Use...........................................................................................15
1.9. Variable Terraforming.........................................................................................16

2. Hardware................................................................................................................16
2.1. Geometry.............................................................................................................17
2.2. Electronic Components……………..........................................................................19
2.3 Mechanical Components………………………………………………………………………………27

3. Solid Model............................................................................................................34

4. Software…………………………………………………………………………………………………………36
4.1. Web Frontend.....................................................................................................36
4.2. Manual Control....................................................................................................37
4.3. Decision Support System.....................................................................................38
4.4. Mobile Applications.............................................................................................38

5. Data........................................................................................................................38
5.1. Plant Data............................................................................................................39
5.2. Soil Data...............................................................................................................39
5.3 Manual Input Data................................................................................................40

6. Cost Approximation……………………………………………………………………………………………41
7. Conclusions ……………………………………………………………………………………………………….43
8. References …………………………………………………………………………………………………………43
2. Figures
Figure 1.2.1 Mono crops…………………………………………………………………………………..12
Figure 1.2.2 Poly crops……………………………………………………………………………………..13
Figure 2 FarmBot hardware high level overview and coordinate system………….16
Figure 2.1 Tracks in relation to the other main components of FarmBot
Hardware………………………………………………………………………………………..17
Figure 2.1.1 Gantry in relation to the other main components of FarmBot
Hardware …………………………………………………………………………………….17
Figure 2.2.1 An Arduino Mega microcontroller ……………………………………………...19
Figure 2.2.2 NEMA 17 stepper motor …………………………………………………………….20
Figure 2.2.3 A Raspberry Pi 3B processor ……………………………………………………….21
Figure 2.2.4 Ramp 1.4V Shield ……………………………………………………………………….22
Figure 2.2.5 pH Sensor……………………………………………………………………………………23
Figure 2.2.6 Bore Scope Camera…………………………………………………………………….23
Figure 2.2.7 Mechanical End Stop Limit Switch………………………………………………23
Figure 2.2.8 Solenoid Valve……………………………………………………………………………24
Figure 2.2.9 Switch Mode Power Supply……………………………………………………….. 26
Figure 2.2.10 Stepper Motor Driver……………………………………………………………….27
Figure 2.3.1.1 V-Slot Extrusion Bar (2020)………………………………………………………28
Figure 2.3.1.2 V-Slot Extrusion Bar (2040)………………………………………………………29
Figure 2.3.1.3 V-Slot Extrusion Bar (2060)………………………………………………………30
Figure 2.3.2 Lead Screw ………………………………………………………………………………..31
Figure 2.3.3.1 Timing Belt (T6)………………………………………………………………………..31
Figure 2.3.3.2 GT2 B6 Stepper Motor Pulley……………………………………………………32
Figure 2.3.4 Coupling ………………………………………………………………………………………32
Figure 2.3.5 Anti-backlash Nut………………………………………………………………………32
Figure 2.3.6 Aluminium L-Section………………………………………………………………….33
Figure 2.3.7 Aluminium L- Clamp…………………………………………………………………..33
Figure 2.3.8 Allen Bolts & V-Nuts…………………………………………………………………..34
Figure 3 Rendered Image Of Solid Model……………………………………………………….35
Fig. 4.1.1 Mockup of the Dashboard tab showing four panes of interactive
Information ……………………………………………………………………………………36
Fig 4.2.2 Mockups of the Operations Agenda showing different filtering and the
editing process………………………………………………………………………………37
Figure 4.3 The Decision Support System combines data streams and makes data
driven decisions for every operation setting………………………………………………….38
1. FarmBot :
 FarmBot is an open source and scalable automated precision farming machine
and software package designed from the ground up with today’s technologies.
 Similar to today’s 3D printers and CNC milling machines, FarmBot hardware
(shown in Fig. 3.1) employs linear guides in the X, Y, and Z directions that allow
for tooling such as plows, seed injectors, watering nozzles, and sensors, to be
precisely positioned and used on the plants and soil.
 The entire system is numerically controlled and thus fully automated from the
sowing of seeds to harvest. The hardware is designed to be scalable, simple,
and hackable.
 Using the open source web based software package, the farmer can
graphically design their farm to their desired specifications and upload
numerical control code to the hardware.
 Other software features include storing and manipulating data maps, a
decision support system to facilitate data driven design, access to open data
repositories, and enterprise class analytics. FarmBot has several distinct
advantage over today’s methods and technologies.

1.1 Precision
 Agriculture equipment and technology has been steadily becoming more
accurate and precise with the advent of GPS and short range radio locationing,
tractor autopilot, computer vision, data mapping tools, and variable rate
tooling.
 Rather than making incremental changes to existing equipment, FarmBot
takes a new approach at precision agriculture, tearing down everything from
the past and starting from the ground up.
 By simply placing the tooling equipment on a set of tracks, rather than a free
-driving tractor, the system has the ability to be extremely precise and
reposition too lignin exact locations repeatedly overtime. This is done with
similar technology that
has been around for decades in printers, manufacturing equipment, and more
recently 3D printers and CNC milling machines.
  Weeds can be eliminated without damaging desired plants through selective
burning, spraying of pesticides or tilling. A mockup top -view of
selective weeding is shown in Fig where FarmBot can actively avoid desired pl
ants when performing destructive operations.
 Any type of plant packing structure can be created and managed including
traditional cubic packing, hexagonal packing and custom irregular structures.
 Each plant can be watered, fertilized, and sprayed individually and precisely
with an optimized regimen that changes throughout the plant’s life cycle
 Plant life cycles do not have to start and end at the same time. Instead, any op
en space can be immediately replanted.

1.2 Combining Polycrop and Monocrop Efficiencies.

 Food production is all about efficiency. How might we produce more food
with less water, fertilizer, labor etc, without compromising sustainability?
There exist at least two types of efficiencies in food production: biological and
machine.
 The efficiencies have always been more or less exclusive, with biological
efficiency stemming from the more natural polycropping system and machine
efficiency from the machine intensive monocropping system.
 If we look at both the monocrop and polycrop, we can see where each one
excels in efficiency, where each one lacks, and then see how
FarmBot combines the best of both world.

1.2.1 Monocrops
 The monocrop system reduced the farm ecosystem down to one plant
species in order for today’s tractors and tooling to perform operations easily,
reliably, quickly, with minimal human labor, and at minimal cost.
 This system is very conducive to scaling up, which is why we usually see the
monocrop system implemented on very large farms with large tractors.
However, the monocrop has perhaps zero biological efficiency, requiring
many inputs to continue functioning.
 Because the ecosystem is so simple, it is unstable, unsustainable, and
vulnerable to attack. Monocrops require more fertilizers, pesticides, energy,
and water than any other farming system ever invented and it is still a
 struggle if not impossible to avoid depleting the top soil, polluting the ground
water and defending against insects and massive crop failure.

Figure 1.2.1 Monocrops, require the most inputs of any farming system but are very
machine efficient.

1.2.2 Polycrops
 The polycrop benefits from superior biological efficiency. The polycrop shown
in Figure 3.2.2 increases diversity within the ecosystem in orderto be closer to
a naturally occurring system, thereby reducing the number of inputs needed.
 Less fertilizer is needed with proper crop rotation and less pesticides and
water are needed with intercropping. The plants work together to form
synergistic relationships making the system more stable, resilient and
sustainable.
 These biological efficiencies come at a cost though. No traditional farming
equipment exists that can perform operations on a wide range of plants at
same
time,so machine efficiency is sacrificed and more human labor is needed to te
nd the crop.
 
Figure 1.2.2. Polycrops, are very biologically efficient but require much more labor
due to a lack of large scale equipment for managing them

1.3. Data Driven Agriculture

 “Big Data” has been a hot topic recently and is transforming many industries.
Today, agriculture data is costly to gather and the systems to make decisions
based on this data are fragmented, proprietary, and not as powerful as they
could be.
 FarmBot aims to make big data acquisition and analysis a more accessible and
standard practice in agriculture, allowing all farmers to make smarter, data-
driven decisions .
 FarmBot hardware and software will enable the farmer to routinely gather
many types of data in a cost effective manner, map that data and allow the
farmer and the decision support system to make optimized decisions for the
layout and operation of the farm.

1.4. Automation
 FarmBot will eventually become a completely automated system from the
point of adding bulk inputs such as seeds and water, to removing bulk
outputs like tomatoes.
 FarmBot aims to eliminate the need for human labor to drive tractors, pull
weeds, harvest, and complete other operations.
  As the software and data analysis improves, the job of the farmer to create a
farm layout and manage the operation of the FarmBot will also be eliminated
in favor of downloadable and automatically generated farm layouts.
 By automating more of the processes, efficiency will be maximized
through constant monitoring, optimized decision making, the minimization of
waste and inputs, and the reduced need for human labor.

1.5. Scalability
 FarmBot is designed with scalability in mind. The hardware design intention
allows scaling from a small garden sized machine all the way up to an
industrial farming operation. The same software will be used in all
applications with potential basic, intermediate, and advanced levels of
control depending on the user’s experience.
 Because the system functions the same on every scale, FarmBot could disrupt
the economies of scale of big agriculture, making smaller scale, more local
farming more efficient for distribution channels and also increase resilience
against severe weather conditions.

1.6. Increased Space Efficiency

 FarmBot enables planting in a more space efficient packing structure, or
layout, of plants that minimizes the space between them. Inspired by the
hexagonal close packing of atoms, the most space efficient atomic structure.
 FarmBot allows for the hexagonal close packing of plants shown in This layout
increases the amount of planted area by over 12% compared with the
traditional cubic layout shown in
 Thismeans one could grow 12% more food on the same area of land without
decreasing the space each plant needs.
 Furthermore, most traditional farm layouts require space for large tractor
wheels to fit through rows of plants .
 FarmBot track scan be placed farther
apart than tractor wheel pathways and the width required per track can be na
rrower.
1.7. Eliminated Soil Compaction
 Traditional tractor equipment is extremely heavy and all of that weight
compacts the soil each time the wheels roll over it.
 The use of tracks allows the weight of all FarmBot equipment to be supported
by the tracks and ultimately the track supports and foundations, a space that
will not be used for growing plants as the tracks are fixed in place for the long
term.
 Eliminating soil compaction eliminates the need for regular heavy plowing
and other operations that are destructive to the soil structure
.This saves time and increases the health of the soil.

1.8. Continuous Land Use

 Because FarmBot is able to individually tend to each plant and the section of
land it is on, as soon as that plant reaches the end of its life cycle, a new plant
can be put in.
 This allows for continuous use of all available space, independent of when
crops are planted or harvested, which ones mature faster or slower, and if
any plants fail to germinate or grow properly.
 Furthermore, plants of the same species can be planted at different times
without losing machine efficiency in order to extend the season
and availability of crops.

1.9. Variable Terraforming

 In many agricultural practices, the soil is shaped into berms and swales of
certain sizes to better suit the needs of the plants.
 These soil structures are formed in straight rows, usually regardless of the
land’s topography. FarmBot could utilize topography maps to create soil
formations and plant layouts on contour, allowing
 rain to be slowed and soak in rather than washing everything away, as well as
reducing the need to water

2. Hardware
 FarmBot hardware is very similar to 3D printer and CNC milling machine
hardware. Looking at Figure 5.1 for reference, you can see that there are two
fixed tracks extending in the X direction and a gantry that spans the tracks
and moves along them.
 Mounted to the gantry is a cross slide that moves in the Y direction and
mounted to that is the tool mount that moves In the Z direction.
 Tooling includes most traditional agriculture tooling that is specially adapted
for FarmBot use.
 The tracks, gantry, cross-slide, and tool mount design intent allow for easy sca
ling in the X, Y, and Z directions.

Figure 2. FarmBot hardware high level overview and coordinate system

2.1. Geometry
Tracks take the form of rails that are slightly elevated off the ground by supports and
small concrete foundations. Each rail acts as a linear guide, providing an interface for
the gantry to mechanically mate with and travel along. Each track has sufficient cross
sectional area and strength to resist deflection during high force operations such as
plowing. Tracks and their foundations scale in size and strength as the gantry size
and number of simultaneous operations increases.
The most basic FarmBot system needs at least two tracks in order for one gantry to
span between them .A three track system can exist that allows for two gantrie to
operate separately on their own sections of land while sharing a middle track. Four,
five, etc track systems may also exist with more gantries. Because of this scalability,
there are two types of tracks: single rail, and dual rail. Single rail tracks allow one
gantry to move across while dual rail tracks allow two gantries to share the same
track as in the three track system.
For small FarmBot systems, the tracks could be constructed from slot aluminum
extrusion for ease of manufacturing, flexible assembly, relative low cost,
expandability, and general availability. For larger applications, custom steel tracks
would likely be the material of choice for reduced cost, increased strength, and weld
ability. Large, pre-fabricated tracks the length of a semi-truck could be shipped in
and bolted or welded together on-site like railroad tracks.

Figure 2.1. Tracks in relation to the other main components of FarmBot hardware

2.1.1 Gantry
 The gantry, highlighted in Figure is the structural component that bridges the
two tracks and moves in the X direction via an X direction drive system.
  It serves as a line are 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 equipment
such as seed bays, tools, electronics, inputs and sensors.

Figure 2.1.1. Gantry in relation to the other main components of FarmBot hardware
 The gantry’s primary structure is an upside down square U shape. At each end
of the U, are linear guide systems such as wheels that allow the gantry to
move across the
tracks in the X-direction. The top of the U shape serves as the bridging compo
nent and the linear guide for the cross-slide.
 The gantry must be very rigid and have tight tolerancing on the linear guide
interfaces. Significant flex or play will lead to less accuracy of the tool oor
location.
 This can be especially important during high force operations that also require
high precision, such as selective tilling, where inaccuracy in excess of 1 cm
could damage desired plants.
 Similar to tracks, the gantry will likely be constructed from T-slot aluminum ex
trusion for small scale applications and welded steel for larger scales.

2.2. Electronics
 The onboard electronics used will be similar to those found in CNC milling
machines and 3D printers. Motors, servos, solenoids, valves, sensors and
other hardware will be controlled with a microcontroller and supplementary
power supply.
  The microcontroller will ideally be open source and purchasable off the shelf
such as an Arduino. The microcontroller will need software that can interpret
numerical control code and subsequently drive the motors and other
equipment to compete operations.
 There will also need to be a live Internet connection for transferring numerical
code as well as sensor data to and from the web backend

2.2.1 Microcontroller
 An Arduino Mega microcontroller, pictured in figure will be used to control the
stepper motors, vacuum pump, stepper motors, and future electronics and
sensors.
 This platform was chosen for its low cost, general availability, hackability,
expandability through shields, the expansive learning resources available, the
strong DIY community already using the platform, and the fact that it is open
source.
 In addition Arduino programs are written in the C language and therefore
very familiar to many. Expansion shields likely to be used will include Wi-Fi, a
RAMPS stepper driver, and an SD card shield.
 The firmware to be installed will likely be forked from an existing 3D printer
G-code interpreter and then modified for the FarmBot application.

Figure 2.2.1 An Arduino Mega microcontroller

2.2.2 Stepper Motors
 The NEMA 17 stepper motor shown in Figure 4.2.2 has been chosen for it’s
general availability, common use in similar projects such as the Rep Rap 3D
printer, easy setup and control, as well as it’s accuracy, speed, and torque
outputs.
 In addition, this motor interfaces with components such as pulleys and
mounting plates available from many providers including Open Builds .
 Since, high speed is not required NEMA 17 is best suitable for this purpose as
high torque is required which it readily provides

Figure 2.2.2. Nema 17 stepper motor

2.2.3 Raspberry pi 3b:-

 This is the "host computer" of FarmBot. You might also call it FarmBot's brain.

 The Raspberry Pi runs FarmBot OS, communicates with the web application
over ethernet or Wi-Fi, and talks to the Arduino Mega over a USB serial
connection.

 This is the "host computer" of FarmBot. You might also call it FarmBot's brain.
The Raspberry Pi runs FarmBot OS, communicates with the web application
over ethernet or Wi-Fi, and talks to the Arduino over a USB serial connection.
 Figure 2.2.3 A Raspberry Pi 3B processor

2.2.4 Ramp 1.4V shield

 This shield is mounted on the top of the Arduino MEGA 2560. The
board’s pin out is compatible with open source CNC control firmware
Grbl.
 While the pin out makes it possible for the board to be used as an
Arduino shield, the board can be interfaced with any microcontroller
system.
 Another good feature of the ramp shield is the motors can clone the
movement of one of the other two motors.
 Since there are 3 motors used in our farmbot this feature makes the
board pretty good choice to be used with these systems.
 It is also more preferable to use because of its compatibility with the
Arduino Mega controller and its ability to control 4 stepper motors with
A4988 stepper driver.
 Figure 2.2.4 Ramp Shield

2.2.5 pH Sensor
 “Smart Farming,” as I define it is using data to make more informed decisions
about the setup and operation of the farm. FarmBot will be able to use the
pH sensors and more to collect data about the soil and will notify the
farmware accordingly.

 The Farmware will then take necessary actions related to the irrigation
patterns of the crops. Some of this data can be taken at many points on the
farm to create data maps.

Figure 2.2.5 pH Sensor

2.2.6 Bore Scope Camera
The bore scope camera is used for inspection of the crops and to give an
overview of the entire field and also to point out weeds if any.

Figure 2.2.6 Bore Scope Camera

2.2.7 Mechanical End Stop Limit Switch

 Cartesian axes all need a datum (also known as home position or end - stop) to
reference their movements. At the start of each build axis need to back-up
until the datum point is reached.
 The switches also help protect the farmbot from moving past its intended
range and damaging itself. Adding homing switches will allow one to enable
soft limits.
 Limit switches are basically homing switches doubled up and in addition to
setting the origin are used to prevent the motors from hitting the end of each
axis which can cause serious alignment problem. Adding 6 limit switches is
highly recommended
 Figure 2.2.7 Mechanical End Stop Limit Switch

2.2.8 Solenoid Valve (12V DC, ¾”)

The solenoid valve used for this project is low pressure, normal temperature,
12V DC ¾”. Generally the solenoid valve helps switching b/w the vacuum pump and
water pump which is required for sowing seeds and irrigation of the crop. But we
are using solenoid valve for irrigation purpose.

Figure 2.2.8 Solenoid Valve

2.2.9 Switch Mode Power Supply (SMPS)
 A switched-mode power supply (switching-mode power supply, switch-mode
power supply, switched power supply, SMPS, or switcher) is an
electronic power supply that incorporates a switching regulator to convert
electrical power efficiently.
 Like other power supplies, an SMPS transfers power from a DC or AC source
(often mains power) to DC loads, such as a personal computer, while
converting voltage and current characteristics.
 Unlike a linear power supply, the pass transistor of a switching-mode supply
continually switches between low-dissipation, full-on and full-off states, and
spends very little time in the high dissipation transitions, which minimizes
wasted energy. Ideally, a switched-mode power supply dissipates no power.
 Voltage regulation is achieved by varying the ratio of on-to-off time. In
contrast, a linear power supply regulates the output voltage by continually
dissipating power in the pass transistor.
 This higher power conversion efficiency is an important advantage of a
switched-mode power supply. Switched-mode power supplies may also be
substantially smaller and lighter than a linear supply due to the smaller
transformer size and weight.
 Switching regulators are used as replacements for linear regulators when
higher efficiency, smaller size or lighter weight are required. They are,
however, more complicated; their switching currents can cause electrical
noise problems if not carefully suppressed, and simple designs may have a
poor power factor.

Figure 2.2.9 Switch Mode Power Supply (SMPS)

2.2.10 Stepper Motor Drivers
 This breakout board for micro stepping bipolar stepper motor driver features
adjustable current limiting, over current and over temperature protection and
six micro step resolutions.
 It operates from 8.2V to 45V and can deliver a current up to approximately
1.5A per phase without a heat sink or forced airflow.
 Each pulse to the step i/p corresponds to one micro step of the stepper motor
in the direction selected by the DIR pin. These inputs are both pulled low by
default through internal 100 k-Ohm pull down resistors

Figure 2.2.10 Stepper Motor Driver

2.3. Mechanical Components

 We all know that the arrangement of parts & subtler parts brings out an
assembly or a system. Hence, these parts are itself called as components that
helps us in forming an assembly.
 Now when coming to the importance of a particular component is done on
the basis of its size, cost and how it directly affects the whole assembly. For
example, consider a component such as coupling.
 This coupling which is a component is connected using a nut and screw which
are also components. But if you compare the cost, size or the degree of the
effect of these components individually on the whole assembly, you shall
 understand that the coupling is a major component and the nut-screw pair is a
supporting component.
 The mechanical components used in this project are as follows,

2.3.1 V-Slot Aluminium Extrusion Bars

 V-Slot Linear Rail is the ultimate solution combining both linear motion and a
modular, structural framing system. It's lightweight yet rigid and provides an
ultra-smooth track for precise motion. Much like working with lumber, you
can cut V-Slot on a chop saw (using a metal blade) or even use a hacksaw.
 From there, you simply use a screw driver to make the connections. V-Slot
Linear Rails are precise, easy to work with and allows you unlimited design
control through its modular nature. V-slots with diff. c/s are used according to
its applications.
 Types of V-Slots used are as follows
i) V Slot Aluminium Extrusion Bar (2020)

Figure 2.3.1.1 V-Slot Extrusion Bar (2020)

 ii) V Slot Aluminium Extrusion Bar (2040)

Figure 2.3.1.2 V Slot Extrusion Bar (2040)

iii) V Slot Aluminium Extrusion Bar (2060)

Figure 2.3.1.3 V slot extrusion bar (2060)

2.3.2 Lead Screw

 A lead screw (or lead screw), also known as a power screw or translation
screw,[ is a screw used as a linkage in a machine, to translate turning
motion into linear motion.
  Because of the large area of sliding contact between their male and
female members, screw threads have larger frictional energy losses compared
to other linkages.
 They are not typically used to carry high power, but more for intermittent use
in low power actuator and positioner mechanisms.
 A lead screw is sometimes used with an anti-backlash nut also called half nut
which allows the nut to be disengaged from the threads and moved axially,
independently of the screw's rotation, when needed (such as in single-point
threading on a manual lathe).

Figure 2.3.2 Lead Screw

2.3.3 V-Wheels
 We have used V-Slot aluminium extrusion bars as our linear guides so we need
V-Wheels for our carriage. V-Wheels are noiseless and faster as compared to
linear bearing.
 The only thing we need to take care of is if the wheels fit perfectly into the v-
slots or not. If wheel is not properly mounted then the movement over the
 linear guides will not be as smooth as expected because all the carriage load
acts on them.

Figure 2.3.3 V-wheels

2.3.4 Timing Belt & Pulley

 A timing belt, timing chain, or cam belt is a part of an internal combustion
engine that synchronizes the rotation of the crankshaft and the camshaft(s) so
that the engine's valves open and close at the proper times during each
cylinder's intake and exhaust strokes.
 In an interference engine the timing belt or chain is also critical to preventing
the piston from striking the valves. A timing belt is usually a toothed belt—
a drive belt with teeth on the inside surface. A timing chain is a roller chain.
We are using a T6 timing belt for this operation.

Figure 2.3.4.1 Timing Belt (T6)

  A pulley is a wheel on an axle or shaft that is designed to support movement
and change of direction of a taut cable or belt, or transfer of power between
the shaft and cable or belt.
 In the case of a pulley supported by a frame or shell that does not transfer
power to a shaft, but is used to guide the cable or exert a force, the
supporting shell is called a block, and the pulley may be called a sheave.
 Here we are using GT2 B6 stepper motor pulley for carriage movement over
the linear guides with the help of the timing belt attached to the pulley.

Figure 2.3.4.2 GT2 B6 Stepper Motor Pulley

2.3.5 Coupling
 A coupling is a device used to connect two shafts together at their ends for
the purpose of transmitting power. The primary purpose of couplings is to join
two pieces of rotating equipment while permitting some degree of
misalignment or end movement or both.
 In a more general context, a coupling can also be a mechanical device that
serves to connect the ends of adjacent parts or objects. Couplings do not
normally allow disconnection of shafts during operation, however there
are torque limiting couplings which can slip or disconnect when some torque
limit is exceeded.
 Selection, installation and maintenance of couplings can lead to reduced
maintenance time and maintenance cost.
 Figure 2.3.5 Coupling

2.3.6 Anti-Backlash Nut

 The nut of the lead screw assembly includes a one-way clutch that permits the
motion b/w two nut bodies in first direction but prevents motion in opposite
direction.
 This method generally includes binding the first nut body relative to the
second nut body to prevent relative motion of the nut bodies in one direction
while permitting motion in an opposite direction.

Figure 2.3.6 Anti Back-Lash Nut

2.3.7 Aluminium L-Section

 Aluminium L-sections are used to fix the x-axis the linear guide in order to
prevent them from displacing when the carriage moves over the linear
guides.
 Figure 2.3.7 Aluminium L-Section (840mm)

2.3.8 L-Clamps
 We use the L-clamp to thoroughly join our v-extrusion frame at right angle
and to make the structure more rigid or fixed.

Figure 2.3.8 L-Clamps

2.3.9 Allen Bolts & V-Nuts

Allen bolts are used to lock the v slot extrusions or to lock on to any given axis with
the help of the v nut. A v-nut is a type nut that is used in case of v-extrusion bar
which passes through the v-slot helps you lock an axis wherever necessary.
Figure 2.3.9.1 Allen Bolt Figure 2.3.9.2 V-Nut
3. Solid Model

Figure 3.1 Rendered image of the solid model

4. Software overview
 FarmBot is as much of a hardware project as it is software because the entire
system is automated and numerically controlled, it is useless without powerful
software to create the numerical code in a smart, easy, and efficient manner.
 This will be done with an open source cloud based software as a service
solution that
allows the user to design their farm, program and control their hardware, stor
e and view data, and use analytics tools.

4.1. Web Frontend

 The web frontend will be the primary way the user interacts with and
programs their FarmBot hardware. Below is a proposal of how this
component of the software could function and what it might look like.

Fig. 4.1.1Mockup of the Dashboard tab showing four panes of interactive

 information.

Fig 4.1.2Mockups of the Operations Agenda showing different filtering and the
editing process

 The Operations Agenda as shown in Figure will show all scheduled operations
that the FarmBot will complete as well as a calendar. The operations are
created and modified when the user drags new plants in to the farm map or
edits the settings of already planted areas .
 The user may use the search to filter and find specific operations and can click
to see details of that operation and make quick edits. Furthermore, the user
may change the selected date and the Farm Map will update to reflect the
predicted layout of the farm on that date.
 This will allow the user to plan in advance the planting of crops as soon as
open space is available after a crop has been harvested

4.2. Manual Control

 Users will be able to manually control the FarmBot through the web interface
using some simple control buttons. One reason to use manual control is in the
case of maintenance or troubleshooting that requires the movement of
 certain components another, would be to quickly complete simple,
one-time operations.

4.3. Decision Support System

Figure 4.3 The Decision Support System combines data streams and makes data
driven decisions for every operation setting

4.4. Mobile Applications

 It may be beneficial to develop mobile applications to allow for a better user
experience when programing and monitoring FarmBots. However, with
responsive design of the web frontend, dedicated mobile applications may
not prove to add any greater value than simply using the website on a mobile
device.
 It also may be best to focus development resources to improving the web
frontend than spreading development over multiple us interfaces.
However, I understand my ignorance in this subject and will respect any devel
oper’s reasoning to pursue mobile application development.
5. Data
 Agriculture as a method is successful when knowledge or data is used to make
decisions that have been proven successful before. FarmBot’s ability to obtain
and combine thousands of data points, plant knowledge, and other factors in
it’s decision support system allow the farmer to know that their farming
operation is data driven and proven.
 Sections potential sources of data that FarmBot can utilize, with the
ultimate goal being complete automation of the farm design and operation pr
ocesses in an optimized way.
5.1 Plant Data
Plant data includes everything that the FarmBot needs to know in order to
successfully plant, grow, and harvest a specific variety of plant in the best
possible way. Below are some of the parameters that might be included in plant data
● Full sun, partial sun requirements
● Seed spacing
● Seed depth
● Number of seeds per hole
● Type of planting foundation (mound, hole, none, etc)
● Optimum watering regimen throughout plant life (volume, timing, and location)
5.2 Soil Data
 Accurate, plentiful, and updated soil data is perhaps the hardest, most time
consuming and expensive data to attain with today’s methods. Soil type and
conditions can change quickly both spatially and temporally.
 For example, after a deep till, a heavy watering or a nutrient intensive crop is
grown, soil conditions will have changed. Geological features such as streams,
valleys, mounds and higher concentrations of rocks or clay can change soil
conditions every few feet.
 FarmBot can very quickly take many data points in many locations in a
systematic way and create high resolution maps of this data. These maps
enable the farmer and the decision support system of section
6.2.4tomakesmarter, data-driven decisions.
  FarmBot could gather about the soil include the following and likely many
more.
i) Percent organic matter, clay, rock, sand, etc
ii) Moisture content
iii) Percolation rate
iv) Nutrient content
v) Microbiological activity

5.3 Manual Input Data

 The farmer will always be able to manually change variables and input special
pieces of data in order to have complete control over the farm design. These
manual inputs may be overriding, modifying, or adding to the existing data.
 For example, if the farmer knows a herd of cattle is going to graze
a certain section of land, there will need to be a way to account for that within
the software through special pieces of manually input data.
6. Cost Approximation
COMPONENTS QUANTITY COST (INR)

NEMA 17 Stepper Motor 3 2550/-

Raspberry Pi 3B+ 2 6500/-

Arduino Mega 2 1830/-

Ramp 1.4V Shield 1 685/-

Solenoid Valve 1 764/-

pH Sensor 1 320/-

Bore Scope Camera 1 840/-

Limit Switch 6 600/-

SMPS (12V, 30A) 2 1700/-

Body Frame - 6600/-

V-Wheels 16 2880/-

M5 T-Nut 90 810/-

M3 T-Nut 30 210/-

M5 Allen Bolt 30 600/-

M3 Allen Bolt 30 300/-

M5 Screws 10 80/-

Timing Belt (4m) 1 400/-

Pulley (Dia. 6mm) 2 200/-

Neodymium Magnets 20 500/-

TOTAL - 28369/-
7. Conclusion
 From this project we got to learn a lot of things. It was easy for us to acquire
the basic knowledge related electric hardware used in our project. We faced
many problems during the assembly of the project as everything needed to be
fixed properly making the entire structure more rigid. But it was an
outstanding learning experience. Overcoming the difficulties we faced we
have prepared this project through our hard work.
 The Farmbot system is a very interesting connected object which has a
societal impact through a paradigm shift for local food production. It also has
many interests from a research perspective in the software engineering
community since it represents a fantastic experimental case study for various
open research problems in modern heterogeneous and distributed software
which interact directly with our physical environment.

8. References
https://en.wikipedia.org/wiki/FarmBot
https://en.wikipedia.org/wiki/File:FarmBot_Genesis