first fare 2010 the design process and first robotics
TRANSCRIPT
THE DESIGN PROCESS AND FIRST ROBOTICSby Rohan Jhunjhunwala Team Captain and Manager of Design, Team 1540
Step 1
Brainstorming
Taking Notes at Kickoff
• Notate important game rules and big picture items.
• Remember weird rules• Think about possible designs, note key
ideas• Very specific items don’t matter
http://smartadsmart.com/Jill%20Taking%20notes.jpg
First Brainstorming Session
• All team members should be involved – not just mechanical people
• Make a list of goals• How will these be accomplished?• Categorize ideas (winch type hanging vs.
grabbing, etc.)• Break into small teams with a variety of
departments represented.• Use whiteboards AND paper, so you can save
your ideas!• Agree on a final idea – to be fleshed out by
design department.
http://www.clamlynch.com/blog/brainstorm.jpg
Step 2
Computer Aided Design
To CAD or not to CAD?
• Very useful for components that are “set in stone”
• Inefficient for detailed CAD of entire robot• CAD can be time consuming• CAD “department”• First CAD without specific dimensions can
demonstrate robot function to rest of team.• Common CAD program options:
• Google SketchUp• Inventor• SolidWorks
Google SketchUp
• Extremely easy to use, fast.• Good for simple, conceptual CADs• Difficult to make a CAD that “proves”
anything
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Autodesk Inventor
• Professional, detailed CADs• Can be given to machine shop for
machining• Can be integrated with CAM• Can be entered in CAD division in
competitions• Time consuming and difficult to learnh
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Manipulators
Step 3
Things to think about
• Weight Distribution • Goals of operation • Simplicity is elegance• Motors and transmissions• Fewest number of moving parts• Utilize multiple forms of motion• Non-motorized elements• Weird parts
Organize your thoughts!
• Consider CAD – need not be perfect for manipulators
• Prototype specific parts• Consider pros and cons of MULTIPLE
designs
Step 4
Ready to Build? Consider Components.
Drive Bases
Think about:• Wheels• Sprockets• Transmissions• Type of base• Motors• Weight distribution• Modularity
Transmissions
• Find a transmission that compliments your design
• Some transmissions offered to FIRST teams:• AndyMark Planetary• AndyMark Toughbox• BaneBots Planetary• Shifters• Fisher Price
• Think about gear and sprocket ratios
BaneB
ots, LLC
Framing Options
• 80/20• QuickFrame• Other Aluminum extrusions(Angle, I-beam, etc.)• Wood• Plastic
Pros and cons of different parts• Sprockets and
Chain (size)• Bearings
• Igus• Ball• Needle• Bronze
• Axle• Bolts vs. Rivets
• Should I use pneumatics?• Binary device• Powerful• Extra components• Linear motion w/
motors• Fast• Constant pressure• Ease of use
Motors!
• Motors included in KOP:• Fisher Price• CIM• Window Motors
(Nippon Denso)• Mabuci RS Motors
• RS-555SH• RS-555VC
Stall Currents:• Fisher-Price 70
CIM 133RS-555SH 4.4
• RS-555VC 10.9• Window Right
18.6• Window Left 21
Effective Prototyping
• Use 80/20 or other quick materials• Only prototype complex systems• Prototype robot?• Don’t worry about weight• Use old parts, and approximate gear
ratios, operate things by hand, etc• Adjust prototype until it works, and take
note of adjustments, so final robot will perform similarly.
Parts! Local
McGuire Bearing Metal Supermarkets Winks Hardware Falk Ace Hardware Muticraft Plastics
Web McMaster-Carr (www.mcmaster.com) OnlineMetals (www.onlinemetals.com) Small Parts, Inc. (www.smallparts.com) MSC Industrial Supply (www.mscdirect.com) RobotShop (www.robotshop.com) Robot Marketplace (www.robotmarketplace.com) AndyMark (www.andymark.biz) BaneBots LLC (www.banebots.com) United Nuclear (www.unitednuclear.com)
Warden Fluid Dynamics (For 80/20 products)
