Transcript FIRST Mentor Workshop - FIRST Robotics Competition

For
Inspiration and
Recognition of
Science and
Technology
Mentors Workshop
Pneumatic
Sub-System
Mark McLeod
Team 358
Festo/Hauppauge H.S.
Objectives

FIRST Rules & Restrictions
 Official Suppliers & Other Sources
 “Circuit” diagram
 Sample Layout
 Basics/Components
 Design Notes
 Potential Problems
 Keeping Students Busy
 Typical Schedule
FIRST Rules & Restrictions

Pneumatics restricted in quantity and type
 Only provided type of compressor, storage tanks
 Official suppliers – Bimba, Parker Hannifan,
Festo, Clippard
 Free items order sheet in FIRST Pneumatics
Manual
 Compressor on-board or off-board
 125psi max storage / 60psi working (must have
2 gauges). Can have a second lower stage.
 Unmodified – “out of the shipping box”
 Vacuum devices not considered pneumatics
 Subject to Inspectors ruling
Official Suppliers

Official Suppliers




www.bimba.com/
Parker Hannifan
www.festo.com/
www.clippard.com
Sample Pneumatics Diagram
Sample Layout
Basic Components
 Compressor
 Solenoid
valves
 Actuators
 Gauges
 Pressure & transducer sensors
 Regulators
 Storage tanks
 Flow control
 Brass & quick connect fittings & tubing
Design Notes

Actuators are lighter than motors w/ 9-180 lbs of
force
 Don’t overheat or stall
 Linear or rotary
 Can be damaged if struck
 Consider compressor weight
 Consider mechanical stops
 Flow control to slow/reduce actuator reaction
 Force is adjustable by bore of cylinder and flow
control
 Single solenoid (retracts upon loss of power)
 Double solenoid (maintains position on loss of
power)
Potential Problems

Air leaks
 Broken pressure sensor
 Compressor hooked up backwards
 Values connected incorrectly
 Exposed tubing vulnerable to snagging
 Too much force can damage manipulators
Keeping Students Busy
 Prototype
testbeds
 Design pneumatic manipulators
Typical Pneumatics Schedule

September thru December


Develop basic skills
January thru March

Six week build period






Robot design – space for electronics and wire runs
Actuator requirements
Designing and testing solutions
Resolve physical layout
Integrating solutions with electrical/control
system/mechanical
Regional event

Inspection