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FIRST Robotics CompetitionWaterloo Regional
Pneumatics●Introduction to Pneumatics●Pneumatic Components●Pneumatic Mechanisms●Resources
Running a Team Robot Design Mobility Controls Pneumatics Competition
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FIRST Robotics CompetitionWaterloo Regional
Ian Mackenzie● 8 years FIRST experience● Co-General Manager for Team 1114 in 2004,
winning 8 FRC awards● Lead designer for two revolutionary FIRST drive
systems (Hexadrive 2002, SimSwerve 2004)● Specific Areas of Mentorship
– Mechanical Design, Competition Strategy● 3rd year Systems Design Engineering student at the
University of Waterloo● Current member of the Waterloo Regional
Planning Committee
Running a Team Robot Design Mobility Controls Pneumatics Competition
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FIRST Robotics CompetitionWaterloo Regional
Introduction to Pneumatics
Running a Team Robot Design Mobility Controls Pneumatics Competition
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FIRST Robotics CompetitionWaterloo Regional
Pneumatic Principles
compressor
reservoir tank
solenoid valve
cylinder
hose
Introduction
Components
Mechanisms
Resources
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FIRST Robotics CompetitionWaterloo Regional
Pneumatic Principles
compressor
reservoir tank
solenoid valve
cylinder
hose
Introduction
Components
Mechanisms
Resources
![Page 6: Waterloo Regional Pneumatics - Simbotics - Team 1114](https://reader036.vdocuments.us/reader036/viewer/2022071601/613d46f7736caf36b75b6c38/html5/thumbnails/6.jpg)
FIRST Robotics CompetitionWaterloo Regional
Why Use Pneumatics?● Weight
– Much lighter than motors (as long as several used)● Simple
– Much easier to mount than motors– Much simpler and more durable than rack and
pinion ● More rugged
– Cylinders can be stalled indefinitely without damage– Resistant to impacts
● Disadvantage: All the way in or all the way out
Introduction
Components
Mechanisms
Resources
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FIRST Robotics CompetitionWaterloo Regional
Pneumatics BoardIntroduction
Components
Mechanisms
Resources
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FIRST Robotics CompetitionWaterloo Regional
Pneumatic Components
Running a Team Robot Design Mobility Controls Pneumatics Competition
![Page 9: Waterloo Regional Pneumatics - Simbotics - Team 1114](https://reader036.vdocuments.us/reader036/viewer/2022071601/613d46f7736caf36b75b6c38/html5/thumbnails/9.jpg)
FIRST Robotics CompetitionWaterloo Regional
Compressor● Generates pressure
of 120 psi● Always run off
relay module, in forward– Do not use to
generate a vacuum!
Introduction
Components
Mechanisms
Resources
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FIRST Robotics CompetitionWaterloo Regional
Reservoir(s)● Up to two● Store compressed air at 120 psi● Top up before each match
– Slow leaks can decrease pressure between pit and field
– Tether robot beside field to top up pneumatics
Introduction
Components
Mechanisms
Resources
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FIRST Robotics CompetitionWaterloo Regional
Regulator● Allows air
from reservoirs to flow to rest of pneumatic system
● Limits pressure in valves, cylinders to 60 psi
Introduction
Components
Mechanisms
Resources
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FIRST Robotics CompetitionWaterloo Regional
Pressure Sensor● Detect pressure in
pneumatic system– Indicate whether system is
above or below a set pressure– Can be calibrated
● Usually two (one set for 115 psi, one set for 105 psi)– Pressure below 105 psi:
compressor on– Pressure above 115 psi:
compressor off
Introduction
Components
Mechanisms
Resources
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Solenoids
iron coreelectromagnetic coil
springrod
Introduction
Components
Mechanisms
Resources
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FIRST Robotics CompetitionWaterloo Regional
Single Solenoid Valve● When energized, cylinder
goes to one state● When de-energized, cylinder
always returns to rest state– When power is cut at the end
of the match, cylinder will return to rest state
● Each valve powered by one relay module (only in forward)
Introduction
Components
Mechanisms
Resources
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Double Solenoid Valve● One solenoid pulsed to move cylinder one
way, other solenoid pulsed to move cylinder the other way
● Results unpredictable if both pulsed ● Valve will stay in either state when neither
solenoid energized● Can use one relay for each solenoid or one
relay and two diodes
Introduction
Components
Mechanisms
Resources
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FIRST Robotics CompetitionWaterloo Regional
Cylinders● Force = Pressure × Area
– 2” diameter piston– Area = 3.14 × 12 = 3.14 in2
– Pressure = 60 psi– 3.14 in2 × 60 psi = 188 lbs– Force while extending
greater than while retracting● Main decisions: Length and diameter
– Diameter based on required force– Larger diameter: more force, but more air
Introduction
Components
Mechanisms
Resources
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FIRST Robotics CompetitionWaterloo Regional
Cylinder Tips● If you need the piston to stay extended or
retracted, add a mechanical latch● Be careful to ensure the
piston rod cannot get bent● Hard to get locknuts/lock
washers in large sizes, so nuts on pistons likely to come loose
Introduction
Components
Mechanisms
Resources
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Flow Controls● Regulate flow of air into and
out of a cylinder● Used to control speed of a
pneumatic cylinder● If used, attach directly to
cylinder (only one end needed)● Seems to regulate air flowing
in both directions, but one direction is restricted a little more
Introduction
Components
Mechanisms
Resources
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Fittings● Put Teflon tape on all threads to ensure
a good seal– Do not put tape on first two threads, as it
may come loose and clog up a valve● Tubing attached simply by pushing it
into connector– If you have a leak, try cutting off the last
couple centimeters of tubing; if it is damaged, it will not seal properly
– To detect leaks, put soapy water on suspect connections and watch for bubbling
Introduction
Components
Mechanisms
Resources
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FIRST Robotics CompetitionWaterloo Regional
Exhaust Valve● Use to release
pressure (especially at the end of a match)
● Useful if you need to be able to release a grabber after a match is over
Introduction
Components
Mechanisms
Resources
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FIRST Robotics CompetitionWaterloo Regional
Pneumatic Mechanisms
Running a Team Robot Design Mobility Controls Pneumatics Competition
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FIRST Robotics CompetitionWaterloo Regional
Linear Motion● Much simpler, easier, more durable than
rack and pinion● Can maintain constant force
A B
P
Piston
Single solenoid valve
regulator
reservoir compressor
wires from relay
Introduction
Components
Mechanisms
Resources
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FIRST Robotics CompetitionWaterloo Regional
Short Rotation● Arm joints● Grabbers
Introduction
Components
Mechanisms
Resources
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FIRST Robotics CompetitionWaterloo Regional
Short Rotation● May want to keep joint in position at end of
match (whatever position it's in)
A B
P
Piston
double solenoid valve
regulator
reservoircompressor
diodes
wires from relay
Introduction
Components
Mechanisms
Resources
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FIRST Robotics CompetitionWaterloo Regional
Constant Force● Gear shift● Brake
A B
P
A B
PA
B
P
Critical piston Non-critical piston
double solenoid valve
regulator
reservoir compressor
double solenoid valve
single solenoid valve
pressure sensors
tee fitting
Introduction
Components
Mechanisms
Resources
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FIRST Robotics CompetitionWaterloo Regional
Resources
Running a Team Robot Design Mobility Controls Pneumatics Competition
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FIRST Robotics CompetitionWaterloo Regional
Resources● www.firstroboticscanada.org
– Grippers, Joints galleries in 'Resources' section● www.chiefdelphi.com/forums/papers.php
– White papers on many topics● www.chiefdelphi.com
– Very active and helpful FIRST forums
Introduction
Components
Mechanisms
Resources
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FIRST Robotics CompetitionWaterloo Regional
Questions?● Ian Mackenzie ([email protected])Introduction
Components
Mechanisms
Resources