Transcript Kein Folientitel

LI-FIRST 2002...
“Building Your Robot”
An Introduction
to the Process
of Designing and Building
a Champion Robot for the
FIRST Robotics Competition
Sponsored by SBPLI-LI
FIRST
Prepared by Festo and the
Hauppauge High School
“Titans”Robotics Team #358
Objectives
To provide an overview of the basic
steps involved in building a robot and
to provide insights into making it
happen within the short six-week
time frame allotted by FIRST.
© Copyright 2001, Festo Corporation
2
Dean Kamen: Motivating Leadership Role Model
Dean Kamen Leadership style...
Objective: Inspire and Motivate!
Approach: Calm, thoughtful,
smart…
Style: Engineer’s casual

Worn construction boots

Faded Jeans

Flannel shirt with large
breast pocket for pen holder
© Copyright 2001, Festo Corporation
3
General Principles for Project Success
 Start with the end in mind
 Have a plan
 Balance expectations with
capabilities
 First things first
 Encourage and motivate
 Challenge and reward
 Delegate and assist
 Emphasize teamwork, spirit
 Build unique team image
and identity
 Have fun
© Copyright 2001, Festo Corporation
4
Primary Steps in Building a Robot
1. Understand the rules for scoring points
2. Brainstorm possible strategies
3. Visualize/sketch basic robotic functions
4. Designate sub-teams responsible for
main systems and set timelines
5. Review / inventory parts kits and learn
rules for purchasing fabricating parts.
6. Design solutions for each function
7. Build prototype robot
8. Program prototype robot
9. Test prototype
10. Make necessary design changes
11. Practice-Practice-Practice
© Copyright 2001, Festo Corporation
5
Understand the Rules for Scoring Points
Before you get started designing
your robot, you must first
understand the rules of the game
for scoring points.
Once you understand the rules
you can start thinking about your
robot strategy.
© Copyright 2001, Festo Corporation
6
Brainstorm various strategies
Your robot strategy
should focus on a design
which optimizes your
chances of scoring points
and is within the capabilities
of your team, its resources,
and the limited time allotted.
No time for “Rube Goldbergs”
© Copyright 2001, Festo Corporation
7
Visualize and sketch basic robotic functions
needed to implement best strategy
Is the design realistic?
Can you build it?
Rube Goldberg?
© Copyright 2001, Festo Corporation
8
Developing Strategy:
Competition Tasks for FIRST 2001 Competition
Example task:
To score points...
Place ball on top of goal:
Swivel arm with
pneumatically operated
gripper arms for grasping
and placing game balls
on or in goal.
© Copyright 2001, Festo Corporation
9
Developing Strategy:
Competition Tasks for FIRST 2001 Competition
Example task:
To score points...
Balance two goals
on the ramp.
© Copyright 2001, Festo Corporation
10
Developing Strategy:
Competition Tasks for FIRST 2000 Competition
Example task:
To score points...
Place balls in
trough
© Copyright 2001, Festo Corporation
11
Developing Strategy:
Basic design criteria for your robot strategy
Devise a robot strategy
to achieve the game objective(s)
by balancing key basic factors of:
simplicity
speed
power
response
agility
cost
time constraints.
Example task: To score points…
Balance robot on bar
© Copyright 2001, Festo Corporation
12
Some examples of Team Robots
from FIRST 2001 Competition
Example task:
Loading balls on goal using
pneumatic gripper arms and
balancing loaded goal on ramp.
© Copyright 2001, Festo Corporation
13
Robots from FIRST 2001 Competition
Example task:
Wire-loop gripper
designed to grasp
and lift the ball.
© Copyright 2001, Festo Corporation
14
Robots from FIRST 2001 Competition
Example:
Shovel scoop solution.
© Copyright 2001, Festo Corporation
15
Robots from FIRST 2000 Competition
Example task:
Claw arm
designed to
grasp and hold
game balls
© Copyright 2001, Festo Corporation
16
Robots from FIRST 2000 Competition
Example task:
Caged chute
solution for
placing game
balls in trough.
© Copyright 2001, Festo Corporation
17
Designate sub-teams responsible for
main systems, set project timelines
Who’s in charge?
Who’s gonna make it happen?
Designate sub-team leaders who will be
responsible for coordinating the
construction of each main robot system
and its functions.
Set project timelines and monitor
progress continuously.
© Copyright 2001, Festo Corporation
18
Review/inventory parts kits and learn rules
for purchasing and fabricating parts.
Designate someone to take an inventory
of parts in the kits and to maintain the list
until project is finished.
Learn rules for purchasing and fabricating
parts.
Keep track of any purchased parts and
materials and add to inventory list.
Include weights where possible.
© Copyright 2001, Festo Corporation
19
Determine and Obtain Needed Tools,
Supplies and Resources
Dog (to run errands)
Cat (to get rid of dog)
Pizza
Hedge clippers (wire cutters)
Chain saw (hack saw)
Sledge hammer
Railroad spikes
Garden hose (tubing)
Old tires
Window motor
Abacus
Excedrin
Key to workshop/ machinetools
© Copyright 2001, Festo Corporation
20
Secure outside resources as necessary
For some aspects of the robot building
process you’ll need outside assistance
and resources.
Try to identify these needs early and
establish the relationships before the
January “FIRST Kick-off so they’re
available when needed.
© Copyright 2001, Festo Corporation
21
Design solutions for each main subsystem
Main sub-systems:
Drive train
Chassis
Superstructure
Robot arm / manipulator
Gripper mechanism
© Copyright 2001, Festo Corporation
22
Build and program your prototype robot
Get started right away with building known robot system elements.
Project tasks should be coordinated in parallel through teamwork.
© Copyright 2001, Festo Corporation
23
Always Observe Workshop Safety Principles
When working in the shop always use
goggles when using tools and
equipment.
Keep the work area clean and neat and
your tools organized.
© Copyright 2001, Festo Corporation
24
Assemble the chassis and body structure
Work along with the kids and let them do as much as they can.
© Copyright 2001, Festo Corporation
25
Layout the electrical components
Make clean connections, neat wiring
and labeling, and leave room for easy
troubleshooting.
© Copyright 2001, Festo Corporation
26
Optimize power and speed through gear reduction
This may look complicated, but your team can get really motivated
when they learn how to design and build a mechanism like this.
Fido monitors progress
© Copyright 2001, Festo Corporation
27
Drive Train
Here we used eight wheels with scored
rubber surfaces to gain better traction.
© Copyright 2001, Festo Corporation
28
Manipulator arm mechanism
Motor-driven chain drive solution
for extending and retracting the
robot arms.
© Copyright 2001, Festo Corporation
29
Pneumatic Gripper Solution
Pneumatics is excellent for
providing the gripper functions on
your robot.
Here, two pneumatic cylinders open
and close the gripper arms at the
touch of a button on the Innovation
controller.
Can you think of ways to use just
one cylinder and achieve the same
opening/closing effect?
Would the force requirements be
met?
© Copyright 2001, Festo Corporation
30
8. Test prototype
Test prototype and ‘tweek’
program and mechanics as
needed .
Ideally, you should try to
have your prototype robot
ready for testing and debugging at the end of the
fourth week.
Avoid major redesigns
unless unavoidable.
(i.e. if it doesn’t work)
© Copyright 2001, Festo Corporation
31
9. Make necessary design changes
Make necessary design changes
before the event to avoid last-minute
‘fixes’ in the “pit’.
© Copyright 2001, Festo Corporation
32
Don’t forget the Dolly...
You’ll have to move your robot around
quickly between the pit area and the
playing field during the competition. For
this you’ll want to build a mobile dolly
with swivel wheels on one end.
This one has a built-in tool compartment
which comes in handy. It’s also a good
place to advertise your team name,
number and logo.
© Copyright 2001, Festo Corporation
33
Build your Crate
Leave Space for Tools and Dolly too.
© Copyright 2001, Festo Corporation
34
10. Practice-Practice-Practice
Practice-Practice-Practice
© Copyright 2001, Festo Corporation
35
General Principles for Project Success
 Start with the end in mind
 Have a plan
 Balance expectations with
capabilities
 First things first
 Encourage and motivate
 Challenge and reward
 Delegate and assist
 Emphasize teamwork, spirit
 Build unique team image
and identity
 Have fun
© Copyright 2001, Festo Corporation
36
Good Luck in 2002 to our FIRST Robotics Colleagues!
© Copyright 2001, Festo Corporation
37