Overview of Pneumatics 1425 Wilsonville Robotics Tim Bennington-Davis [email_address] (503) 449-9507
Why Use Pneumatics ? <ul><li>To power Actuators </li></ul><ul><li>Powerful, reliable, durable </li></ul><ul><li>Good lifte...
Typical Applications <ul><li>Two-position linear applications </li></ul><ul><ul><li>A “lifter” or “gate” </li></ul></ul><u...
What will it cost you? <ul><li>Weight  </li></ul><ul><li>Battery power </li></ul><ul><li>Space on the robot </li></ul><ul>...
Pneumatic Schematic
Pneumatic System
Elements of the System <ul><li>Compressor </li></ul><ul><li>Safety Release Valve </li></ul><ul><li>Air Tanks </li></ul><ul...
Pneumatic System Compressor Air Tanks Pressure Gauge (high press) Pressure Gauge (working press) Regulator Pressure switch...
Compressor <ul><li>New model in 2011 – lighter </li></ul><ul><li>Earlier model also legal (probably) </li></ul><ul><li>Mou...
Safety release valve <ul><li>Releases at 120 psi – prevents over-pressure condition </li></ul><ul><li>Must be placed on hi...
Air Tanks <ul><li>Reservoirs for pressurized air </li></ul><ul><li>May use more than one </li></ul><ul><li>Typically used ...
Gauges and Regulators <ul><li>Norgren regulator mandatory, regulates high pressure side down to 60 psi </li></ul><ul><li>R...
Pressure switch and valve <ul><li>Switch opens at 115 psi, closes at 95 </li></ul><ul><li>Must be connected to digital inp...
Tubing <ul><li>Must have clear pressure marking </li></ul><ul><li>Typically 0.25” OD </li></ul><ul><li>Always cut with tub...
Solenoids <ul><li>Driven by pneumatic bumper on cRIO </li></ul><ul><li>Available in single- and double-action </li></ul><u...
Actuators <ul><li>Typical device is a linear ram </li></ul><ul><li>Available in many sizes </li></ul><ul><ul><li>Length (t...
Useful Tricks – Flow control <ul><li>Flow control valves </li></ul><ul><ul><li>Mount at air inlet on actuators </li></ul><...
Useful Tricks – Magnet Switch <ul><li>Magnetic switch option </li></ul><ul><ul><li>Mount switch to side of ram </li></ul><...
More on Solenoids <ul><li>Single Action </li></ul><ul><ul><li>One electrical connection </li></ul></ul><ul><ul><li>Control...
Helpful Hints
System tradeoffs <ul><li>Big rams use more air (stroke and bore) </li></ul><ul><li>Frequent use of air during match can ou...
Good Factoids <ul><li>Order your actuators EARLY.  There are lead times involved. </li></ul><ul><li>Cut tubing square, and...
Summary <ul><li>Well-suited for:  </li></ul><ul><ul><li>Fast movement </li></ul></ul><ul><ul><li>Two-position mechanisms <...
Great resources <ul><li>FIRST website </li></ul><ul><ul><li>Pneumatics Manual </li></ul></ul><ul><ul><li>Rules from 2011 <...
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First fare 2011 overview of pneumatics-2012

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First fare 2011 overview of pneumatics-2012

  1. 1. Overview of Pneumatics 1425 Wilsonville Robotics Tim Bennington-Davis [email_address] (503) 449-9507
  2. 2. Why Use Pneumatics ? <ul><li>To power Actuators </li></ul><ul><li>Powerful, reliable, durable </li></ul><ul><li>Good lifters, long extension, quick action for short throws </li></ul>
  3. 3. Typical Applications <ul><li>Two-position linear applications </li></ul><ul><ul><li>A “lifter” or “gate” </li></ul></ul><ul><ul><li>Transmission shifter </li></ul></ul><ul><ul><li>Arm extender </li></ul></ul><ul><li>Means to impart energy </li></ul><ul><ul><li>Load the spring of a kicking device </li></ul></ul><ul><li>Limited-arc rotary applications </li></ul><ul><ul><li>Gripper </li></ul></ul><ul><ul><li>Arm Elbow or Shoulder </li></ul></ul>
  4. 4. What will it cost you? <ul><li>Weight </li></ul><ul><li>Battery power </li></ul><ul><li>Space on the robot </li></ul><ul><li>Logistics to get the right parts </li></ul>
  5. 5. Pneumatic Schematic
  6. 6. Pneumatic System
  7. 7. Elements of the System <ul><li>Compressor </li></ul><ul><li>Safety Release Valve </li></ul><ul><li>Air Tanks </li></ul><ul><li>Pressure Gauges </li></ul><ul><li>Pressure Regulator </li></ul><ul><li>Pressure Switch, vent valve </li></ul><ul><li>Tubing and fittings </li></ul><ul><li>Solenoids </li></ul><ul><li>Actuators </li></ul>
  8. 8. Pneumatic System Compressor Air Tanks Pressure Gauge (high press) Pressure Gauge (working press) Regulator Pressure switch and vent Solenoid Actuator Safety release valve
  9. 9. Compressor <ul><li>New model in 2011 – lighter </li></ul><ul><li>Earlier model also legal (probably) </li></ul><ul><li>Mount with rubber mounts to solid surface </li></ul><ul><li>Power with Spike (replace fuse with 20A circuit interrupter) </li></ul>
  10. 10. Safety release valve <ul><li>Releases at 120 psi – prevents over-pressure condition </li></ul><ul><li>Must be placed on high-pressure side (prior to regulator) </li></ul><ul><li>Recommend mounting at compressor </li></ul>
  11. 11. Air Tanks <ul><li>Reservoirs for pressurized air </li></ul><ul><li>May use more than one </li></ul><ul><li>Typically used on high-pressure side </li></ul>
  12. 12. Gauges and Regulators <ul><li>Norgren regulator mandatory, regulates high pressure side down to 60 psi </li></ul><ul><li>Relieving regulator to deal with pressure spikes from mechanical compression </li></ul><ul><li>Must have gauge on high pressure side, and on low-pressure side </li></ul>
  13. 13. Pressure switch and valve <ul><li>Switch opens at 115 psi, closes at 95 </li></ul><ul><li>Must be connected to digital input on digital sidecar – NOT in series with power </li></ul><ul><li>Valve is to release pressure from system </li></ul>
  14. 14. Tubing <ul><li>Must have clear pressure marking </li></ul><ul><li>Typically 0.25” OD </li></ul><ul><li>Always cut with tubing cutter, square end </li></ul>
  15. 15. Solenoids <ul><li>Driven by pneumatic bumper on cRIO </li></ul><ul><li>Available in single- and double-action </li></ul><ul><li>12v or 24v, compatible with pneumatic bumper </li></ul>
  16. 16. Actuators <ul><li>Typical device is a linear ram </li></ul><ul><li>Available in many sizes </li></ul><ul><ul><li>Length (throw) </li></ul></ul><ul><ul><li>Diameter (bore) </li></ul></ul><ul><ul><li>Mounting configurations </li></ul></ul><ul><li>3 cylinders are available at no cost but you must order them </li></ul>
  17. 17. Useful Tricks – Flow control <ul><li>Flow control valves </li></ul><ul><ul><li>Mount at air inlet on actuators </li></ul></ul><ul><ul><li>Control speed of action, not force </li></ul></ul>
  18. 18. Useful Tricks – Magnet Switch <ul><li>Magnetic switch option </li></ul><ul><ul><li>Mount switch to side of ram </li></ul></ul><ul><ul><li>Use digital input to cRIO to detect switch closure </li></ul></ul><ul><ul><li>Lets software know when piston is at certain position </li></ul></ul><ul><ul><li>Turn “2 position” ram into “multiple” </li></ul></ul><ul><ul><li>Requires double-action solenoid </li></ul></ul>
  19. 19. More on Solenoids <ul><li>Single Action </li></ul><ul><ul><li>One electrical connection </li></ul></ul><ul><ul><li>Controls “two position” operation </li></ul></ul><ul><li>Double Action </li></ul><ul><ul><li>Two electrical connections </li></ul></ul><ul><ul><li>Enables multi-position operation </li></ul></ul>
  20. 20. Helpful Hints
  21. 21. System tradeoffs <ul><li>Big rams use more air (stroke and bore) </li></ul><ul><li>Frequent use of air during match can outrun your compressor </li></ul><ul><li>If your air use is limited enough, you can consider charging tanks in the pit, and not mounting compressor </li></ul><ul><ul><li>Save weight, cost and battery power </li></ul></ul>
  22. 22. Good Factoids <ul><li>Order your actuators EARLY. There are lead times involved. </li></ul><ul><li>Cut tubing square, and don’t tolerate leaks. </li></ul><ul><ul><li>Eats your battery life </li></ul></ul><ul><ul><li>If you count on a “pre-charge” lasting, and there is a delay in field play, your air leaks out. </li></ul></ul><ul><li>Get on the Bimba website and get familiar with their parts </li></ul><ul><li>If you want magnetic switches, you must order magnetic rams. </li></ul><ul><li>Get your three actuators, even if you don’t use them this year </li></ul>
  23. 23. Summary <ul><li>Well-suited for: </li></ul><ul><ul><li>Fast movement </li></ul></ul><ul><ul><li>Two-position mechanisms </li></ul></ul><ul><ul><li>Creating substantial force </li></ul></ul><ul><ul><li>Sustained Holding </li></ul></ul><ul><li>Not so good for </li></ul><ul><ul><li>Precision position control </li></ul></ul><ul><ul><li>Sustained movement </li></ul></ul><ul><li>Exercise safety </li></ul>
  24. 24. Great resources <ul><li>FIRST website </li></ul><ul><ul><li>Pneumatics Manual </li></ul></ul><ul><ul><li>Rules from 2011 </li></ul></ul><ul><li>Google “FIRST pneumatics” </li></ul><ul><ul><li>You’ll get several hits from teams who have done tutorials, including calculations </li></ul></ul>

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