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