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The document provides an introduction to the components used in FIRST Robotics Competition including wheels, drive trains, pneumatics, common tools, motors/actuators, and electronics. It describes different types of wheels and drive trains and the components used in pneumatic systems. Tools commonly used in robot building like saws, drills, and welders are also outlined.
The document provides an introduction to the components used in FIRST Robotics Competition including wheels, drive trains, pneumatics, common tools, motors/actuators, and electronics. It describes different types of wheels and drive trains and the components used in pneumatic systems. Tools commonly used in robot building like saws, drills, and welders are also outlined.
The document provides an introduction to the components used in FIRST Robotics Competition including wheels, drive trains, pneumatics, common tools, motors/actuators, and electronics. It describes different types of wheels and drive trains and the components used in pneumatic systems. Tools commonly used in robot building like saws, drills, and welders are also outlined.
Who we are? • Karl Schulze • Class of ‘13 • Mechanical Engineering Junior • Likes pina coladas • April Gaydos • 4 Years on Team 2080 • Mechanical Engineering Junior • Likes getting caught in the rain What we will talk about • Wheels • Motors/actuators • Drive Train • Electronics • Pneumatics • Coding • Common Tools • Games Wheels They go up and down on buses. Types of Wheels • Traction
• Omni
• Mecanum
Wheels Drive Train Pneumatics Common Tools
Wheels - Traction • “Normal” Wheels • Standard wheels with varying amounts of traction, strength & weight • Kit of Parts (KOP) • AndyMark (AM) or VEX Pro • Pneumatic • Slick • Custom
Wheels Drive Train Pneumatics Common Tools
Wheels - Omni • Rollers are attached to the circumference, perpendicular to
the axis of rotation of the wheel
• Allows for omni directional motion
• Used in the Slide and Holonomic Drivetrains
Wheels Drive Train Pneumatics Common Tools
Wheels - Mecanum • Rollers are attached to the circumference, on a 45 degree
angle to the axis of rotation of the wheel
• Allows for omni directional motion
• Need to be individually motored
• Used for (obviously) Mecanum Drivetrain
Wheels Drive Train Pneumatics Common Tools
Drive Train The suspension is killing me. Drive Train • Tank
• Slide
• Mecanum
• Holonomic
Wheels Drive Train Pneumatics Common Tools
Drive Train - Tank • Left and right wheel(s) are driven independently • Typically in sets of two (1-4 sets is common, sometimes higher) • Strengths • Simple & cheap to design, build, and program • Easy to drive • Potential for high speed and/or pushing force • Weaknesses • Slightly less agile than other drivetrains
Wheels Drive Train Pneumatics Common Tools
Drive Train – Slide/ H-Drive • Similar layout to tank drive, with an extra wheel(s) perpendicular to the rest • Must use all omni-wheels • Strengths • Fairly easy and cheap to design, build, and program • Agile • Weaknesses • No potential for high pushing force • Extra wheel(s)/motor(s)/gearbox(es) required to allow robot translate
Wheels Drive Train Pneumatics Common Tools
Drive Train - Mecanum • Similar layout to tank drive, but each wheel must be driven independently • Must use 4 mecanum wheels • Strengths • Fairly easy to design & build • Agile • Weaknesses • No potential for high pushing force • Challenging to program and learn to drive well • Extra Gearboxes and wheels are expensive
Wheels Drive Train Pneumatics Common Tools
Drive Train - Holonomic • 4 omni-wheels positioned on 45⁰ angle in the corners of the frame • Each wheel must be driven independently • Strengths • Agile • Weaknesses • No potential for high pushing force • Very challenging to program and learn to drive well • Requires extra gearboxes
Wheels Drive Train Pneumatics Common Tools
Pneumatics The world of air. What is pneumatics? • Uses air to conduct a push or pull force • https://youtu.be/WksVDib_Vxs
Wheels Drive Train Pneumatics Common Tools
Why pneumatics? • Lighter • Motors/gears > Cylinders/compressors • Simple • Closed system • Adjustable • Can easily be changed or adjusted • Strong • Can lift over 180 lbs depending on the configuration
Wheels Drive Train Pneumatics Common Tools
Pneumatics Components • Compressor • Viair 090C Air Compressor • Included in rookie kit of parts • Output: 120 psi • Follow the arrows
Wheels Drive Train Pneumatics Common Tools
Pneumatics Components • Pressure release valve • Included in rookie kit of parts • Must be connected to compressor with hard fittings • 120 psi pressure relief • Pressure switch • Normally closed • Connects to both pneumatics and electronics pieces • Opens at 115 psi and closes at 95 psi saving battery power
Wheels Drive Train Pneumatics Common Tools
Pneumatics Components • Air Tank • Stores air within system • Withstand up to 125 psi • Do not over pressurize • Tanks can explode • Keep fasteners loose • Keep tanks protected and away from harm • Condensation will occur
Wheels Drive Train Pneumatics Common Tools
Pneumatics Components • Main Regulator (black) • Limits downstream air pressure • Air pressure < 60 psi • Secondary Regulator (yellow) • Placed after main regulator • Further reduces air pressure for different components Follow the arrows to prevent damage to system.
Wheels Drive Train Pneumatics Common Tools
Pneumatic Components • Solenoid valves • Open and close with electronic/programming commands • Must use one solenoid per cylinder
Wheels Drive Train Pneumatics Common Tools
Pneumatics Components • Gauges must be on both the working side and downstream side of system • Present on Compressor and all regulators • Brass fittings used to connect pneumatics pieces • Taping is used to prevent leaks
Wheels Drive Train Pneumatics Common Tools
Pneumatics Components • Tubing • Comes in a variety of sizes and colors • Used to allow air to travel through the system • Cylinders • Parts that conduct the push or pull force • Come in different sizes • Particular calculations to determine force measurements (force calculator)
Wheels Drive Train Pneumatics Common Tools
Gauge Storage Tank Compressor Pressure Switch (1 per cylinder) Relief Valve
Main Regulator w/ Cylinder Solenoid Pressure Gauge
Break off with secondary
regulator w/ gauge, solenoid, and cylinder Common Tools Back to the Basics! Common Tools • Saws • Hand • Band • Hydraulic Band • Circular • Sawzall
Wheels Drive Train Pneumatics Common Tools
Common Tools • Mills • Primarily for making holes (drill press) • Can fit many bits • Spin vertically downward • Can also be used to cut
Wheels Drive Train Pneumatics Common Tools
Bits • Sizes are fraction of an inch • Depending on the set, it can be as accurate as 1/64
Wheels Drive Train Pneumatics Common Tools
Common Tools • Lathe • Rotates the workpiece on an axis • Turning operation typically used for • Cutting • Sanding • Knurling • Drilling • Deforming • Facing • Turning • These operations can be done using other tools but a lathe can increase accuracy and overall quality, as well as save time.
Wheels Drive Train Pneumatics Common Tools
Common Tools • Grinder • Used to smooth rigged edges • Most metals and wood • “lazy filing”
Wheels Drive Train Pneumatics Common Tools
Common Tools • Solder • Electronic • Used to attach Wires to boards/other wires • Melting the actual solder with a hot metal iron and letting it harden
Wheels Drive Train Pneumatics Common Tools
Common Tools • Welding • Used to attach metal to metal • Can be complicated with specific materials • Also can be very dangerous if you don’t know what your doing
Wheels Drive Train Pneumatics Common Tools
Motors/ Actuators Makes the world go round Motors/Actuators • FRC provides an annual list of permitted motors/actuators. • Resource page • List of permitted motors/actuators • How many can be used? • What part numbers are available? • Where can I buy this part? • Part specifications
Motors/Actuators Electronics Coding Games
Electronics Remember, with great power comes i(^2)*R Electronics • Battery • Provides Power • Has to be 12 V • Only a (+) and (-) port
Motors/Actuators Electronics Coding Games
Electronics • Power Distributing Board • Distributes power from as 12VDC battery to various components throughout the system
Motors/Actuators Electronics Coding Games
Electronics • Voltage Regulator Module • Input Voltage • Output Resistance • Purpose: to regulate and control power for the robot radio, custom circuits and vision cameras
Motors/Actuators Electronics Coding Games
Electronics • Pneumatic Control Module • Contains inputs and outputs for 12V and 24V solenoids and the on-board compressor • Contains a pressure sensor to automatically regulate pressure • roboRio turns PCM on/off
Motors/Actuators Electronics Coding Games
Electronics • RoboRIO • Brain of the Robot • Holds all code and programs • Main communicator of the robot
Motors/Actuators Electronics Coding Games
Electronics • Motor Controllers • Connected to each individual motor • Provide a variable voltage for each DC motor • Many types and “brands”
Motors/Actuators Electronics Coding Games
Electronics • Controller/ Receiver • Sending your actual controls to the robot • Can come in many shapes and sizes • Can even just be a laptop • Commonly used: joystick, keyboard, xbox controller
Motors/Actuators Electronics Coding Games
Programming Language Pay no attention to the man behind the curtain. Programming Languages Most commonly used: Java, C++, Labview
Information, tutorials, and additional resources are all on the resource
page!
Motors/Actuators Electronics Coding Games
The Game What’s this robot supposed to do anyway? Games • Activity! • FRC Breakaway • https://www.youtube.com/watch?v=IEHAj3EmpMw
Motors/Actuators Electronics Coding Games
Games • Activity! • FRC Logomotion • https://www.youtube.com/watch?v=DTJOXTIaa9g
Turning and Boring
A specialized treatise for machinists, students in the industrial and engineering schools, and apprentices, on turning and boring methods, etc.
Development and Application of "Green," Environmentally Friendly Refractory Materials For The High-Temperature Technologies in Iron and Steel Production