Introduction to Basic Robotics Parts/Systems

About the Presenters

Brant BowenPresident of Indiana FIRSTOperations Engineer at AndyMark

John DowneyStaff Advisor for Purdue FIRST ProgramsPrecision Guessworks (#1646) MentorRobot Inspector

Warning!This information is basedon our experience from

previous years

Any of this can changewhen the 2011 game is

released by FIRST

What We Will Cover

DrivetrainsElectrical SystemOperator Interface

Drive Systems

Motors

CIM Motor (Chiaphua)Fisher Price MotorDenso Window Motor

Gearbox

ToughboxTransmissionGear ReducerReduces speed of motor outputIncreases your output torque

Chains, Sprockets, Hubs

Connect motors to wheels

Drive Systems

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 Drive6 Wheel Drive

Mecanum Drive SystemsSwerve Drive SystemsHolonomic Drive Systems

4 Wheel Drive

6 Wheel Drive

Mecanum/Holonomic Drive System

Holonomic Drive System

Electrical Diagram

Electrical Diagram

Battery

EnerSys NP 18-12Only robot powersource

Electrical Diagram

120 Amp Breaker

Main BreakerPower SwitchAll current runs throughthis component

Electrical Diagram

Power Distribution Board

Breaker PanelPower BoardDistributes power to the restof the robot

Electrical Diagram

National Instruments CompactRIO

NI cRioThe "brain"The "computer"Programmable microcontroller

Electrical Diagram

Digital Sidecar

Provides an easy interfaceto the cRIO digital moduleOutputs for PWMDigital Input/OutputIFI Spike Relays

Electrical Diagram

Speed Controllers

Lets cRIO regulate voltage tomotorsBoth can be controlled with thePWM ports on the Digital SidecarJaguar's can be controlled viathe CAN bus as well

Electrical Diagram

Camera

AXIS M1011 or 206Provides vision capabilities to robotPaired with algorithms donated by NI

Electrical Diagram

Wireless BridgeLinksys WGA600N or WET610N Also called radio or gaming adapterLets the cRIO communicate with the field and controls

Electrical Diagram

Signal Lamp

Solid ON = GoodSlow Blink = DisabledFast Blink = No Communication

PWM Cables

Also called a servo cableMost used signal cable

PWMDigital I/OIFI Spike

Operator Interface

Classmate PC

Laptop computerNewest componentMain part of the driverstationLive feedback throughcustomizable dashboard

Joysticks

Also called flight sticksPrimary method for driving andoperating robotSecondary buttons for operating

ShootingShifting the drive

Stop Button

Photo Credits

�http://www.flickr.com/photos/nasahqphoto/http://www.flickr.com/photos/nifirstrobotics/http://www.andymark.biz/http://www.denso-europe.comhttp://www.team228.orghttp://team358.org

Questions?