Transcript FIRST Mentor Workshop

For
Inspiration and
Recognition of
Science and
Technology
Mentors Workshop
Mechanical
Sub-System
Mark McLeod
Team 358
Festo/Hauppauge H.S.
Objectives

FIRST Rules & Restrictions
 Official Suppliers & Other Sources
 Basics/Components
 Design Notes
 Potential Problems
 Keeping Students Busy
 Typical Schedule
FIRST Rules & Restrictions

FIRST motors restricted in quantity and type
 Any suppliers of other components like gears,
sprockets, chain, wheels
 No materials restriction other than nothing
dangerous
 $3500 limit (2005) on all additional parts
including outside labor and other sub-systems
 Must pass event inspection – volunteers and all
that implies
Official Suppliers
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Official Suppliers
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www.innovationfirst.com/
www.ifirobotics.com
Other Sources
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www.andymark.biz
www.spi.com/
www.wmberg.com/
www.sdp-si.com/
www.bostongear.com
www.picdesign.com
www.mcmaster.com
www.martinsprocket.com
www.servocity.com
Basic Components
– Drill, Atwood/CIM, Fisher Price,
Van door, Window, Globe
 Gears and/or sprockets, key stock
 Wheels (hard, pneumatic, trick, casters,
skids)
 Chassis
 Manipulators, arms, special purpose
devices
 Motors
Design Notes

Kit drivetrain (kickoff video)
 Alternate drivetrains (direct drive, gears,
sprocket/chain)
 Manipulators
 Motors (variety, specs)
 Fabrication
 Design considerations:
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How fast and robust?
Steering method
Protect wheels and drive mechanism
Pre-built transmissions
Tradeoffs between motors and pneumatics
Potential Problems
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Poor gearing
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Overheating/stressing motors
Breakers blowing
Unusual 12v battery drain
Misaligned drive shafts/drivetrains
 Additional friction from operating on field carpet
 Unbalanced or high center-of-gravity causing
tips
 Entanglement or other risk to other robots
 Safety hazard to field crew, spectators, or
players
 Over weight – “speed holes” in chassis, gears,
etc.
Keeping Students Busy
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Calculate various gear to sprocket to
wheel ratios
 Build hubs for wheels
 Practice assembling and disassembling
drivetrain components
 Test and monitor drive motor current draw
Typical Electronics Schedule
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September thru December
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Develop basic skills
January thru March
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Six week build period
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Robot design – space for electronics and wire runs
Actuator requirements
Designing and testing solutions
Resolve physical layout
Integrating solutions with electrical/control
system/pneumatics
Regional event
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Inspection
Further Information
 www.chiefdelphi.com
forums
--
team technical
 http://firstrobotics.uwaterloo.ca/resourc
es.php --
At the FIRST Mechanism Library, you
can find pictures of all sorts of designs sorted by
mechanism. Current categories include Arms,
Drivetrains, Elevators, Frames, Gearboxes, Grippers,
Joints, Rollers and Wheels.