Water Planter Table
2.5 DOF Cartesian Robot
OVERVIEW
Working in a group of four engineers—Raymond Lu (ME'27), Chenhe Jiang (ME'27), Andrew Tantrakoon (ME'27), and Mathew Nizich (ME'27)—we created a 2.5 DOF Cartesian Robot known as the Water Planter Table. Its essential duty is to use a water tank source through a tube to water pump individual plant sections that house soil for gardens. This process was carried out through several integrated class exercises aimed at creating and understanding the functions of a 3D printer through G-Code and its degrees of freedom to simulate similar operations. Over the course of a month, through weekly meetings with the professor, class time, and work sessions, we were able to complete and develop a functioning product. The final demonstration showcased our work to fellow classmates, faculty, and our Professor Enrique.
MOTION SYSTEM
2.5 DOF Water Planter Table
The function of the product was achieved through the proper sizing of extrusion bars connecting two stepper motors for controllability in the x and y directions, and a third motor for the z component, which holds the water pump and tube system connected to the water tank source. The stepper motor controls the carriage that moves the z-axis component with the pump to specific sections of the planter table. This motion is enabled through belts connected between a bearing mount and a motor mount. The motor mount and bearing mount are secured to the extrusion bars using nuts, screws, and washers, providing stability and reducing friction as the carriage moves along the belt.
All CAD for the system and its individual components was created in SolidWorks. The 1 × 1 inch extrusion bars were provided by the professor, while all custom mounts and carriages were 3D printed using PLA or SLA. This allowed for customization and precise sizing, with tolerance considerations taken into account when exporting designs from SolidWorks as STEP/STL files for printing.
The physical model of the system features a rectangular frame, similar to that of a 3D printer, constructed from four aluminum extrusion bars. This structure enables translation in the x and y directions, while the top bar, which houses the water pump, allows for movement in the z-axis.
The X-direction mount drives the stepper motor to the desired position, while both the X and Y stepper motors are mounted on opposite ends of the extrusion bars to ensure smooth and balanced system functionality. Along these extrusion bars, a carriage is able to slide freely using timing belts with properly sized teeth, allowing for low-friction and precise motion. Belt couplers are mounted on both the motor and idle mounts, forming a continuous timing belt loop that runs through the system and around the carriage. One side of the belt is fixed to the carriage, so when the stepper motor rotates the coupler, it drives the belt and translates the carriage linearly along the extrusion bar. Two identical motor–carriage–idle mount assemblies work together to form the complete X-axis translation system, enabling synchronized linear motion. A similar motor–carriage–idle mount assembly is mounted on top of the two bottom carriages, forming the Y-axis translation system.
Finally, the water pump is attached to a dedicated carriage mount designed to fit both the pump and tubing system. This assembly also includes a vertical mount, allowing for precise control of the Z-axis and accurate water delivery to specific sections of the planter table.
Top View of Physical Model
PrusaSlicer was configured to generate and send G-code to Repetier-Host, which controls motor movement through an MKS board. This setup enables coordinated motion across three axes on the Water Planter Table. An Arduino Mega was used to upload and run the firmware, integrated with a motor shield to ensure seamless G-code compatibility. Once the tank is filled, water is delivered through tubing to the pump, which dispenses water at 0.5-second intervals to each section of the garden, effectively hydrating the soil. The pump is fixed at a set height and moves only in the X and Y directions along the carriage, driven by stepper motors and the imported G-code. A predefined sequence of commands controls the system, allowing it to systematically water each section of the planter table. The full G-code implementation can be accessed by selecting the title “WIRING/G-Code” section.
BOARD MOUNTING
The MKS board and Arduino Mega, which control the G-code execution and stepper motors, are mounted on a custom 3D-printed component. This mount is integrated with the extrusion bar and carriage system, providing strong stability and is secured with nuts and screws for added rigidity. The placement of these boards, along with an additional set of components positioned nearby, serves as protection against water splashes, helping to preserve the reliability and functionality of the system.
System Wiring/Board Mounting
BOARD MOUNTING
On the right is our Garden Box made out of MDF Cardboard and acrylic for different sections is mounted on another piece of MDF Cardboard where it is attached via nuts and screws. It was designed to fit our rectangular extrusion bars providing easy changing access and effective watering from the pump.
Garden Box
SYSTEM SOLIDWORKS COMPONENTS
Left Bearing Mount
Right Bearing Mount
Left Motor Mount
Right Motor Mount
Arduino Board Mount
Carriage Slider Pump
Pump Mount
Shown above are the CAD models that make up the Water Planter Table. Each component plays a specific role in the assembly and overall functionality of the system. The left and right bearing mounts remain stationary and house bearings and couplers, which are connected to the corresponding motor mounts via timing belts that run through a separate carriage slider attached to the extrusion bars.
The Arduino housing contains both the Arduino Mega and the MKS board and is mounted at the rear of the system along the extrusion frame. The carriage slider, pump mount, and pump assembly are positioned on the top Z-axis, where the water pump and tubing are secured for water delivery. Together, these components form an integrated system that enables precise motion and controlled watering, making the overall design fully functional.
FINAL PRODUCT TESTING
FINAL PRODUCT DEMONSTRATION
Final Demo
Video will be added once Professor Enrique releases*