Specifications

Robot:

  • 4 AndyMark PG71 gearmotors for propulsion (top speed of about 0.3m/s)
  • 4 Brute® 7103500YP 8” x 2” Lawn Mower Drive Wheels for off-road traction and horrible squealing noises when turning on pavement…
  • 20mm Aluminum extrusion frame
  • Raspberry Pi 5 for robot control with ROS2 Iron Irwini.
  • Dual Jaguar (MDL-BDC24) motor controllers with a custom ROS2 driver using a usb to RS232 adapter
  • 4 onboard cameras with a Raspberry Pi 5 for video streaming.
  • Dedicated Raspberry Pi Pico for arm, weedwacker, and accessory control. (interfaced over USB)

Sprayer:

  • 4-DOF robotic arm with 60Kg/cm servos and stepper driven turntable
  • Raspberry Pi Pico based arm & accesory controller
  • Nozzle, pump, and hose repurposed from a broken battery powered weed spraying wand
  • 3D inverse kinematics for precise and intuitive positioning
  • Microsoft LifeCam mounted on the end of the arm for sprayer targeting

Weed Wacker:

  • Weed wacker mounted on a 40cm folding arm
  • Winch deployment
  • Direct drive CIM motor for weedwacking with a RYOBI 2-in-1 bladed head on a 3D printed adapter for cutting
  • Capable of cutting weeds, grass, small shrubs (and if you aren’t careful, your ankles).


Prototype control system mockup with different motors

Drivetrain before accessories were installed

3DOF arm originally designed for Triangle Bot, before being repurposed for weed spraying

PG71 motor with 3D printed gear to interface with the wheels

Basic arm & turntable mounted

Front electronics closeup

Rear electronics closeup

First version of operational rover driving around

Initial spraying test

Upgraded arm with camera

Camera mast

View from the drive camera

Views from all of the cameras on the teleoperation computer

Weedwacker attachment deployed

Weedwacker attachment retracted

Completed V2 robot with all accessories deployed