MOH Goat Autonomous Operation FIRST Robotics 卫生部山羊第一机器人自主运行.pptVIP

Weight “Tare” weight: 7.5 lbs Compressor Accumulators (2) Regulator/fittings Spike relay Individual Systems: .5-2.0 lbs Cylinder Connections Solenoid The same for 1 or many systems! Generally lighter than equivalent motors, gear boxs, wiring, and Spikes Battery Problem Motor current is a function of its speed and load Rapid starting and stopping at high set pressure uses max current (easily over 10 A for start) Existing pressure switch has very low latency Battery Help Pre-2006 FRC kit pressure switches turned off at about 115 psi—turned back on at about 105 psi 2006 switches much better: 115 to 95 psi Still an unpredictable significant current Use logic s/w to prevent turn on during critical non-pneumatic operations Use delay logic to delay turn-on What’s Right with Pneumatics No “magic smoke” Do not overheat, wear-out, or quit Even with overloads Provide controlled force High speed combined with high force Accurate end position control Holds energy without additional power consumption An adjustable Spring Where to use Two-position linear applications A “lifter” or “gate” Two-position with stored energy Transmission Shifter Limited-arc rotary applications Gripper Arm Elbow or Shoulder Example “Lifter” 2K6 FRC Robot: lifts balls to spinning shooter wheels ? x 6 cylinder Magnetic switch-activated return stroke Capable of feeding shooter at 3 balls per 2 secs Lifter Design Considerations Force of pulling vs pushing (piston rod effect) F=P x A , F = 60psi * π ((3/8)2- (1/8)2)= 24 lbs Example “Shifter” 2K4 FRC Robot: slides pins to lock/unlock “differential” ? x 2 cylinder 3 pins to be locked into 3 of 6 holes Shifter Design Considerations Only wanted ? in of motion Used adjustable fixed stop Example “Gripper” 2K1 FRC Robot: grab 30” ball from floor and place on high goal tower Needed secure 10 pound grip Had to balance on tower Nice to be able to grab 10” balls also Gripper Design Considerations Articulated joint used insured symmetry Effe