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NUTRONS FIRST Seminar Kyle Henry 11/12/2007 Agenda Kickoff/Engineering Process Build Season Mechanical Design Electrical Layout Kickoff The Engineering Process Basic steps to breakdown and solve any problem Pre-Kickoff Things you need to do before the kickoff During the Webcast

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nutrons

NUTRONS

FIRST

Seminar

Kyle Henry

11/12/2007

agenda
Agenda
  • Kickoff/Engineering Process
  • Build Season
  • Mechanical Design
  • Electrical Layout
kickoff
Kickoff
  • The Engineering Process
    • Basic steps to breakdown and solve any problem
  • Pre-Kickoff
    • Things you need to do before the kickoff
  • During the Webcast
    • What you need to do while watching the webcast of the kickoff event.
  • Post Kickoff
    • Engineering Process
    • Tasks for after the webcast and game review
the engineering process
The Engineering Process

Needs Assessment

Implementation

Problem Formulation

Analysis

Abstraction and Synthesis

-Brainstorming

pre kickoff
Pre-Kickoff
  • Download the manuals
    • The manuals are available but password protected
  • Organize your build schedule
    • Set goals and deadlines and stick to them
    • Decide team goals for the build
      • Base them off of your skills and desires
kickoff webcast
Kickoff Webcast
  • Take Notes
  • Ask Questions
    • Open question forum online for your advisor, you can post questions online.
  • Review the playing field and elements
  • Review all the game rules
  • Understand Scoring Structure
post kickoff
Post Kickoff
  • From Team Goals decide Strategy
    • Goals for the Robot
    • Style of Drive train
    • Robot Accessories (ARM)
  • Brainstorming and Conceptual Designs
    • Ideas only!
  • Read Chief Delphi Forums
    • www.chiefdelphi.com
    • This is a fantastic FIRST Forum
    • Amazing team resource!
build season
Build Season
  • Conceptual Design
    • Basic Concepts and Prototype Defined
  • Finished Design
    • Concepts to Drawings for Manufacturing
  • Manufacturing
    • Creating the Parts
  • Test
    • Making sure your Robot Works
conceptual design
Conceptual Design
  • Draw and Sketch your Ideas
    • Napkin to CAD Cartoons
  • Define Methods
    • How are you going to do something
    • Rotation vs. Elevator
  • Prototype
    • Mock up of Components
finished design
Finished Design
  • Designs ready for Manufacture
    • Pictures or plans with dimensions and layout.
  • CAD or Finalized Graphical Representation
    • Full CAD is unnecessary
    • Paint, Word and PowerPoint
  • K.I.S.S.
    • Keep It Simple Stupid
    • Simplicity is the key to success
manufacturing
Manufacturing
  • K.I.S.S.
    • Simple Design = Faster and Easier Manufacturing
    • Cheaper Robot
      • Less likely to mess up a part
  • This is where all designs get hung up
  • Critical to stay on time and on budget
slide12
Test
  • Drive Train
    • Test Early and Often
    • Main area for problems to exist and grow
  • Plan time for Programmers to Debug and code
  • More Testing results in better Finished Robot
    • Find your errors before you hit the field.
mechanical design
Mechanical Design
  • Materials
    • Your design is only as good as what you build it with
  • Material Alloys
  • Motors
    • Know the Specs
  • Drivetrain
    • IMPORTANT: Critical to all Working Robots!
  • Accessories
    • What else will your robot do?
materials
Materials
  • Material Selection
    • Critical to your design
  • Strength and Density
    • 2 most critical properties FOR FIRST!
  • Know what you want your material to do so you can choose the type appropriately.
material alloys
Material Alloys
  • Aluminum
    • 6061-T6
      • Most Common Structural Alloy
    • 7075
      • Aircraft Aluminum
      • Stronger and More Expensive than 6061
  • Steel
    • 1018 and other Mild Steels
      • Common Alloys for added strength in components
    • 4140 – Chromalli
      • Stronger than Mild Steels
      • Good for Critical Locations
motors
Motors
  • Availability
  • Specs
    • Torque Curves
  • What do you need the motors to do?
    • Speed (RPM)
    • Torque
    • Installation
    • Weight
  • Choose the right one for the right application
drive trains type
Drive Trains - Type
  • Tank Drive
    • Left and Right Independent motion
      • Drive it like a tank
      • 2, 4 & 6 Wheel as well as tank tread (usually timing belt)
  • Swerve Drive
    • Rotate the wheels to the direction of travel
  • Crab Drive
    • 2 sets of DTs set 90º from each other.
  • Holonomic
    • Special Omni-wheels that while varying
drive train criteria
Drive Train - Criteria
  • Choosing the right Drive Train for you:
  • Speed
    • How fast do you need to go?
  • Agility
    • Are there obstacles on the field or do you want to be able to out maneuver around other teams?
  • Power
    • Do you have to pull or push something?
    • Do you want to be able to push people around?
  • Traction
    • What will you be driving on?
fastening devices
Fastening Devices
  • Nuts and Bolts
    • ¼-20, 10-32 - common
    • Lock Nuts or Loctyte
    • Removable
  • Welding
    • Permanent, strong
    • Need skill and experience
  • Rivets
    • Semi-Permanent
    • Can replace if falls out
    • Can drill out and later replace
bearings and bushings
Bearings and Bushings
  • Bearings:
    • Needle
      • Thinner Radially
    • Ball
      • Most Common
    • Thrust
      • Used for Support in Axial Direction
  • Bushings
    • Bronze
      • Typical material
      • No moving parts, rely on low friction between the material.
      • Radial and Thrust avialable
  • Do your research on what the device can withstand.
  • Anything that moves needs some kind of bearing or bushing
wheels
Wheels
  • There are multiple things to consider when choosing your wheels
  • Traction
    • Too much may actually be bad – decreases turning and agility
    • Need enough though to be able to move and push.
  • Omni-Wheels
    • Allow transverse motion.
accessory devices
Accessory Devices
  • Accessories are game dependant.
  • Examples include:
    • Arms
    • Elevator
    • Ball Intake devices
    • Hoppers
    • Ball Shooters
    • Grippers
    • Wings
    • Ramps
arms elevator and wings
Arms, Elevator and Wings
  • Arms
    • General goal is to lift and object
    • Generally use rotating joints to move.
  • Elevator
    • Uses linear motion to raise or lower an object
  • Wings
    • Increase your size generally used to push or “herd” objects.
electrical components
Electrical Components
  • Victor 884
    • 40 AMP capacity
    • Pulse-Width Modulators (PWM)
    • Vary current going through based on 1-256 input from a joystick.
      • 128 is neutral number.
    • Component that controls motors
  • Spike Relay
    • On/off Switch
    • Typically for pneumatics.
robot controller
Robot Controller
  • “Brain” of the Robot
  • All components are controlled with PWM cables that run back to the RC.
  • Has a processor