OSCAR

Open-source Community Agriculture Robot
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

Table of Contents

Design
Math
Electronics
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

CAD files: link
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

Soft Gripper:\

Math

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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	16	$1.75
Shaft adapter	4	$$
Stepper Motor	4	$
Stepper Driver	4	$
Springs	16	$
Carbon Rod	3.5m	$$
Limit Switch	8?	digikey
3D prints	lots	Markforged

Production Version

Item	Quantity	Cost (each)
Stepper Motor	4	$
Springs	16	$
Carbon Rod	3.5m	$$
Gears - small	4 - left	$19.74
Gears - large	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