FIRSTFare 2012 Pneumatics for Beginners
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FIRSTFare 2012 Pneumatics for Beginners






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FIRSTFare 2012 Pneumatics for Beginners FIRSTFare 2012 Pneumatics for Beginners Presentation Transcript

  • Dale Yocum, Head Mentor, Team 1540 The Flaming Chickens Based on presentation from Tim Bennington-Davis, Team 1425 Error Code Zero
  • Why Use Pneumatics ? Powerful, reliable, durable Applying constant force Linear motion
  • Typical ApplicationsGrabbersand Arms
  • Typical ApplicationsAppendagesand brakes
  • Typical ApplicationsShifting
  • What will it cost you? Weight Battery power Space on the robot Logistics to get the right parts
  • Pneumatic SystemCompressor Air Tanks Regulators and gauges Regulator Pressure Gauge, pressure switch, release valve Solenoid valves Solenoid Actuators
  • Compressor New model in 2011 – lighter, less air Earlier model also legal (probably) Mount with rubber mounts to solid surface Power with Spike (replace fuse with 20A circuit interrupter)
  • Safety Relief Valve  Releases at 120 psi – prevents over- pressure condition. Adjust it!  Must be placed on high-pressure side (prior to regulator)  Must mount on compressor
  • Air Tanks  Reservoir for pressurized air  May use more than one  Typically used on high-pressure side
  • Gauges and Regulators  Norgren regulator mandatory, regulates high pressure side down to 60 psi  Must have gauge on high pressure side, and on low-pressure side  Look for the arrow on regulator!
  • Pressure switch  Switch opens around 115 psi, closes at 95 in theory. You can’t adjust it.  Must be connected to digital input on digital sidecar – NOT in series with power
  • Release Valve Releases air from the system Must be in an obvious place
  • Solenoid Valves  Driven by pneumatic bumper on cRIO  Available in single- and double-action  Use 12v Valves
  • Tubing  Must have clear pressure marking  Typically 0.25” OD  Always cut with tubing cutter, square end  Polyurethane Polyethylene Coiled
  • Actuators  Typical device is a linear ram  Available in many sizes  Length (throw)  Diameter (bore)  Mounting configurations  3 cylinders are available at no cost but you must order them
  • Flow control  Flow control valves  Mount at air inlet on actuators or in-line  Control speed of action, not force
  • Fittings
  • Helpful Hints
  • Tradeoffs  Big cylinders use more air (stroke and bore)  Frequent use of air during match can outrun your compressor  If your air use is limited, you can consider charging tanks in the pit, and not mounting compressor  Save weight, cost and battery power
  • Pneumatics CommandmentsThou shalt… Not tolerate air leaks. Not cut pneumatic tubing with anything other than a pneumatics tubing cutter. Not use a actuator bigger than you need. Tape metal fittings up to but not including the last thread. Optimize air storage capacity.
  • Summary  Well-suited for:  Fast movement  Two-position mechanisms  Creating substantial force  Sustained Holding  Not so good for  Precision position control  Sustained movement
  • Great resources FIRST website  Pneumatics Manual  Rules from 2012