First fare 2013   pneumatics 2013
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First fare 2013 pneumatics 2013

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    First fare 2013   pneumatics 2013 First fare 2013 pneumatics 2013 Presentation Transcript

    • Dale Yocum, Head Mentor, Team 1540 The Flaming Chickens dale@yocum.com Based on presentation from Tim Bennington-Davis, Team 1425 Error Code Zero
    • Why Use Pneumatics ? Powerful, reliable, durable  Applying constant force  Linear motion 
    • Typical Applications Grabbers and Arms
    • Typical Applications Appendages and brakes
    • Typical Applications Shifting
    • What will it cost you? Weight  Battery power  Space on the robot  Logistics to get the right parts 
    • Pneumatic System Compressor Regulators and gauges Air Tanks 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 breaker) 
    • Safety Relief Valve Releases at 125 psi – prevents overpressure 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  Freelin-Wade.com  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 www.automationdirect.com
    • Helpful Hints
    • Tradeoffs Big cylinders use more air (stroke and bore)  Big cylinders are slower.  Don’t power them in both directions if you don’t need to.  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 Commandments Thou 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  FIRST Pneumatics Manual  Rules from 2013  http://team358.org/files/pneumatic/  http://www.pneumaticsonline.com/Calc2.as p