This document provides information on pneumatic systems for robots. Pneumatics can provide powerful, reliable linear motion and are well-suited for applications that require grabbing, lifting, or braking. The key components of a pneumatic system include compressors, air tanks, regulators, gauges, solenoid valves, tubing, and actuators. Setting up the system properly requires following safety guidelines. Pneumatics are best for fast movements, two-position mechanisms, and creating substantial force but not as good for precision position control or sustained movement. Resources for learning more about pneumatic systems are provided.

1. Dale Yocum, Head Mentor, Team 1540
The Flaming Chickens
dale@yocum.com
Based on presentation from
Tim Bennington-Davis, Team 1425
Error Code Zero

2. Why Use Pneumatics ?
Powerful, reliable, durable
 Applying constant force
 Linear motion


3. Typical Applications
Grabbers
and Arms

4. Typical Applications
Appendages
and brakes

5. Typical Applications
Shifting

6. What will it cost you?
Weight
 Battery power
 Space on the robot
 Logistics to get the right parts


7. Pneumatic System
Compressor
Regulators and gauges
Air Tanks
Regulator
Pressure Gauge,
pressure switch,
release valve
Solenoid
valves
Solenoid
Actuators

8. 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)


9. 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


10. Air Tanks
Reservoir for pressurized air
 May use more than one
 Typically used on high-pressure side


11. 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!


12. 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


13. Release Valve
Releases air from the system
 Must be in an obvious place


14. Solenoid Valves
Driven by pneumatic bumper on cRIO
 Available in single- and double-action
 Use 12v Valves


15. Tubing
Must have clear pressure marking
 Typically 0.25” OD
 Always cut with tubing cutter, square
end
 Freelin-Wade.com

Polyurethane
Polyethylene
Coiled

16. 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

17. Flow control

Flow control valves
 Mount at air inlet on actuators or in-line
 Control speed of action, not force

18. Fittings
www.automationdirect.com

19. Helpful Hints

20. 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

21. 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.


22. Summary

Well-suited for:
 Fast movement
 Two-position mechanisms
 Creating substantial force
 Sustained Holding

Not so good for
 Precision position control
 Sustained movement

23. Great resources

FIRST website
 FIRST Pneumatics Manual
 Rules from 2013

http://team358.org/files/pneumatic/

http://www.pneumaticsonline.com/Calc2.as
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