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Robot ConstructionFor CompetitionSustainability
Tommy Earley
Palmetto Regional FIRST Kickoff EventJanuary 5, 2013
Introduction
• Rookies?
• 1st Time Builders
• Welcome
• Interactive Discussion
Bio
Tommy Earley, P.E.
Electrical Engineer – Distribution Design
Santee Cooper – Horry-Georgetown Distribution
7th Year FIRST FRC Mentor – Team 1287
Education
• Berkeley High School c/o 99’ – Moncks Corner, SC
• Trident Technical College c/o 2004 – Associates in Science
• The Citadel c/o 2006 – Bachelors of Science in Electrical Engineering
Work Background
• Auto Mechanic, Lab Technician
• Power Generation – Student Engineer
• Distribution Planning – Engineer
• Overhead and Underground Power System Design – Engineer
Robot Construction
1ST AND FOREMOST ****READ THE MANUAL****
2nd K.I.S.S.
3rd Think Skinny – Weight is Everything
Frame MaterialsSteelAluminum8020Carbon Fiber
Robot Construction
Build Your PYRAMID WiselyFasteners
Weight vs. StrengthRedundancyK.I.S.S.
Save Time and $$$$$
Body MaterialsLexanPlexiglassSheet Metal
Robot Construction
Drivetrain2 x 44 x 44 x 6
Drive TypeTank DriveMecanum DriveSwerve DriveOmni Drive
6 x 68 x 8Tracks
Robot Construction
GearboxPlanetaryToughbox
ChainBeltGear
Robot Construction
MotorsKnow Types!Know Quantities!
Motor ControllersVictor 888JaguarTalonSpike ???
Robot Construction
PneumaticsCompressor
New TypeOld TypeOn-BoardOff-Board
Air StorageSmall or Large Aluminum ClipperPlastic ClipperOther ??
Robot Construction
Pneumatics (cont)Solenoid Valves
Festo – 12V or 24VOther Comparable CFM (SMC)
FittingsQuick Connect (Parker)Hard Connect (Swagelok)
CylindersBimba – Flow Control ???
Always Leak Check Your System!!!
Construction Techniques
Proper Construction TechniquesWiring
No Room for Birds – NO BIRD NESTSNeatness is KeyWire TypeUse Zip TiesSticky Tabs are your friendLabel Everything!!!Use proper connectors – Tug TestNo Exposed Wires – Tape or Heat ShrinkSecure ALL PWM CablesModular Design ???
Construction Techniques
Proper Construction TechniquesPneumatic Tubing
Neatness is Key – Sound familiar?Connectors – Tug TestSystem Leak Check !!!Watch for Pinch Points
Coil Tubing???Solenoid Control – Single or DoubleLock all Flow ControlsCheck Working Pressure – Each MatchDID YOU CLOSE RELIEF VAVLE???
Construction Techniques
Proper Construction TechniquesLabeling
ElectricalBoth Ends of Wire at ALL ConnectionsBoth Ends of PWMs at ALL Conn.Both Ends of all Solenoid ConnectionsAll MotorsAll Motor ControllersAll SolenoidsAll Relays
Construction Techniques
Proper Construction TechniquesLabeling
PneumaticsHoses at ALL connectionsALL Solenoid Valves
In – Out or Forward – ReverseALL Pressure GaugesALL Cylinders
Troubleshooting
Troubleshooting ????This Robot will Last FOREVER!!!1st and Foremost – BE PREPARED!!
Schematics Remember all that Labeling you did??? Wiring Schematic
Communication / Control Power
Pneumatic Schematic
Troubleshooting
Tools Electrical
Jumper Wires (Alligator Clip / Connector) Long and Short (12 AWG) Long PWM Cables (6 Feet) Long Solenoid Wire (6 Feet)
Voltmeter Test Light
Troubleshooting
Tools Pneumatic
Hose Pair (Fastened Together 6 Feet) Jumper Wire – Bypass Pressure Switch Pressure Gauge (Ready To Connect)
Troubleshooting
Parts The More Spare Parts the Better!!! ALWAYS have spares of Customized Parts Wire / PWMs / Solenoid Cables Breakers Motors Motor Controllers / Solenoids Gearboxes Wheels Bearings Cylinders And the List Goes on………………
Troubleshooting
Determine your Weakest Link and Be Prepared for it to FAIL
The more time you spend now the better off you will be at the competition
Don’t get Lazy…..It’s going to BREAK!!! Keep a Rational Mind in the Heat of Competition Always work problems from a Highest Level
Down Create Troubleshooting Flow Charts Most Importantly of all…..
Stay Calm!
Questions & Answers
Palmetto Regional FIRST Kickoff EventJanuary 5, 2013