introduction to basic robotics parts/systems
DESCRIPTION
Introduction to Basic Robotics Parts/Systems. Cass Lake Bena Robotics. What We Will Cover. Drivetrains Electrical System Operator Interface. Drive Systems. Motors. Denso Window Motor. CIM Motor ( Chiaphua ). Fisher Price Motor. Gearbox. Toughbox Transmission Gear Reducer - PowerPoint PPT PresentationTRANSCRIPT
Introduction to Basic Robotics
Parts/SystemsCass Lake Bena Robotics
DrivetrainsElectrical SystemOperator Interface
What We Will Cover
Drive Systems
Motors
Denso Window Motor
Fisher Price Motor
CIM Motor (Chiaphua)
Toughbox Transmission Gear Reducer Reduces speed of motor output Increases your output torque
Gearbox
Toughbox
Connect motors to wheels
Chains, Sprockets, Hubs
Use combinations of gearboxes, motors, and wheels to design a drive system.
Drive Systems
There are many varieties of drive systems:◦Tank Drive 4 Wheel Drive 6 Wheel Drive
◦Mecanum Drive Systems◦Swerve Drive Systems◦Holonomic Drive Systems
Drive Systems
4 Wheel Drive
6 Wheel Drive
Mecanum Drive System
Holonomic Drive System
Electrical Diagram
Electrical Diagram
EnerSys NP 18-12
Only robot power source
Battery
Electrical Diagram
Main Breaker Power Switch All current runs through
this component
120 Amp Breaker
Electrical Diagram
Breaker Panel Power Board Distributes power to the rest of the robot
Power Distribution Board
Electrical Diagram
NI cRio The "brain" The "computer" Programmable microcontroller
CompactRIO
Electrical Diagram
Provides an easy interface to the cRIO digital module.
Outputs for PWM Digital Input/Output IFI Spike Relays
Digital Sidecar
Electrical Diagram
Lets cRIO regulate voltage to motors
Both can be controlled with the PWM ports on the Digital Sidecar
Jaguar's can be controlled via the CAN bus as well
Speed Controllers
Electrical Diagram
AXIS M1011 or 206 Provides vision capabilities to robot Paired with algorithms donated by NI
Camera
Linksys WGA600N or WET610N Also called radio or gaming adapter lets the
cRIO communicate with the field and controls
Wireless Bridge
Electrical Diagram
Solid ON = Good Slow Blink = Disabled Fast Blink = No Communication
Signal Lamp
Also called a servo cable Most used signal cable
◦ PWM◦ Digital I/O◦ IFI Spike
PWM Cables
Operator Interface
Laptop computer Newest component Main part of the driver station Live feedback through customizable
dashboard
Classmate PC
Joysticks
Stop Button
Signal Flow