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Introduction to Basic Robotics Parts/Systems

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

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Introduction to Basic Robotics Parts/Systems

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  1. Introduction to Basic RoboticsParts/Systems Cass Lake Bena Robotics

  2. What We Will Cover • Drivetrains • Electrical System • Operator Interface

  3. Drive Systems

  4. Motors • Denso Window Motor • CIM Motor (Chiaphua) • Fisher Price Motor

  5. Gearbox • Toughbox • Transmission • Gear Reducer • Reduces speed of motor • output • Increases your output • torque Toughbox

  6. Chains, Sprockets, Hubs • Connect motors to wheels

  7. Drive Systems • Use combinations of gearboxes, motors, and wheels to design a drive system.

  8. 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

  9. 4 Wheel Drive

  10. 6 Wheel Drive

  11. MecanumDrive System

  12. Holonomic Drive System

  13. Electrical Diagram

  14. Electrical Diagram

  15. Battery • EnerSysNP 18-12 • Only robot power • source

  16. Electrical Diagram

  17. 120 Amp Breaker • Main Breaker • Power Switch • All current runs through this component

  18. Electrical Diagram

  19. Power Distribution Board • Breaker Panel • Power Board • Distributes power to the rest of the robot

  20. Electrical Diagram

  21. CompactRIO • NI cRio • The "brain" • The "computer" • Programmable microcontroller

  22. Electrical Diagram

  23. Digital Sidecar • Provides an easy interface to the cRIO digital module. • Outputs for PWM • Digital Input/Output • IFI Spike Relays

  24. Electrical Diagram

  25. Speed Controllers • 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

  26. Electrical Diagram

  27. Camera • AXIS M1011 or 206 • Provides vision capabilities to robot • Paired with algorithms donated by NI

  28. Wireless Bridge • Linksys WGA600N or WET610N • Also called radio or gaming adapter lets the cRIO communicate with the field and controls

  29. Electrical Diagram

  30. Signal Lamp • Solid ON = Good • Slow Blink = Disabled • Fast Blink = No Communication

  31. PWM Cables • Also called a servo cable • Most used signal cable • PWM • Digital I/O • IFI Spike

  32. Operator Interface

  33. Classmate PC • Laptop computer • Newest component • Main part of the driver • station • Live feedback through customizable dashboard

  34. Joysticks

  35. Stop Button

  36. Signal Flow

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