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 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
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 http://team358.org/files/pneumatic/