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ROBOT CAMP. Hollywood Hills Entrepreneur and Leadership Military Academy. What is Robotics. What is Robotics. A Robot is a mechanical device that can perform tasks and interact with its environment
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ROBOT CAMP Hollywood Hills Entrepreneur and Leadership Military Academy
What is Robotics A Robot is a mechanical device that can perform tasks and interact with its environment Robotics is the science and technology behind the design, manufacturing and application of robots.
What is Robotics The Czech word robota loosely means "compulsive servitude.” The word robotics was first used by the famous science fiction writer, Isaac Asimov, in 1941.
What is Robotics A good definition for a Robot is: A Mechanical Device That Senses That Thinks That Acts
Robot that Senses A Robot senses its environment using sensors Sensors can take many forms such as: Light Sensors, Color Sensors, IR Sensors Touch Sensors, Distance Sensors Rotational Sensors
Robot that Thinks Based on the Sensor input a Robot makes decisions using a Processor such as the VEX Cortex, LEGO EV3, Arduino UNO Based on this a set of actions are produced
Robot that Acts The Robot Acts on its environment by activating a set of actuators which can be: Motors to move the Robot Actuators which lift or rotate various manipulators
Basic Robot Components A typical Robot has the following specific identifiable components: Body/frame Control System Manipulators Drive train
Robot Body/Frame The body or frame can be of any shape and size. Essentially, the body/frame provides the structure of the robot. Most people are comfortable with human-sized and shaped robots that they have seen in movies, but the majority of actual robots look nothing like humans. They are typically designed more for function than appearance.
Robot Control System The control system of a robot is equivalent to the central nervous system of a human. It coordinates and controls all aspects of the robot. Sensors provide feedback based on the robot’s surroundings, which is then sent to the Central Processing Unit (CPU). The CPU filters this information through the robot’s programming and makes decisions based on logic.
Robot Manipulators To fulfill their purposes, many robots are required to interact with their environment, and the world around them. Sometimes they are required to move or reorient objects from their environments without direct contact by human operators. Unlike the Body/frame and the Control System, manipulators are not integral to a robot, i.e. a robot can exist without a manipulator.
Robot Drivetrain Although some robots are able to perform their tasks from one location, it is often a requirement of robots that they are able to move from location to location. For this task, they require a drivetrain. Drivetrains consist of a powered method of mobility. Humanoid style robots use legs, while most other robots will use some sort of wheeled solution.
Uses and Examples Robots have a variety of modern day uses, some of the more typical types of uses are: In Industry - example: welding robots In research - example: automated gene sequencing In education - example: teaching mechanical and system design In healthcare - example: surgical robots
Robot Examples • Industrial Robots - often perform high precision, repetitive jobs and often under circumstances which are less safe for humans.
Robot Examples • Robots are often used in research and to explore far away planets such as MARS, and perform scientific missions
Robot Examples • Robots are increasingly used in space
Robot Examples • Robot cars, trucks, busses are some of the newest development in robotic technology
Robot Engineering Robot Engineering like all Engineering follows a process Robot Engineering like all Engineering is a well documented journey you under taken as a team Robot Engineering like all Engineering is about overcoming challenges and finding eloquent solutions to the problem at hand
Robot Engineering Engineering is done in a team A team has weakness and strengths - it is the job of the team to figure this out and come together to become stronger as a sum of all the individuals strength Spent some time figuring out what every team member strength and weaknesses are including their likes and dislikes
The Engineering Notebook Why the Engineering Notebook? As proof that you did the work - remember there is a lot of work being down leading up to competition day, and this is your record and your history of having done the work! To make it possible for other team members to step in when one or more or sick and to know exactly where you are at.
The Engineering Notebook Keep a Contemporaneous Engineering Notebook! That means write EVERYTHING down Make it a habit from the first meeting forward to record everything Consider making one team member the main Engineering Notebook steward
The Engineering Notebook Every meeting should start with: Who is present What is the goal for the meeting Who will do what task Every meeting should end with: What was accomplished of the goals list What will be handed over to the next meeting
VEX Robotics System • The VEX Robotics System is based around the following major category of components:
VEX Structural System • For example, when mounting a VEX Bearing Flat there are small tabs which will stick through the square hole and hold it perfectly in alignment. • The VEX structural pieces all contain square holes (0.182” sq) on a standardized 0.5” grid. • Regular nuts that have no locking feature. • Another useful structural component are the 8-32 threaded standoffs; these standoffs come in a variety of lengths and add a great deal of versatility to the VEX kit. • KEPS nuts have a ring of teeth on one side of them which will grip the piece they are being installed on. • Nylock nuts have a plastic insert which will prevent the screw from loosening. • Allen wrenches and other tools are used to tighten or loosen the hardware. • Metal components can be attached together using the 8-32 screws and nuts which are standard in the VEX kit.
VEX Motion Subsystem • The key component of any motion system is an actuator (an actuator is something which causes a mechanical system to move). In the VEX Robotics Design System there are several different actuator options. The most common types are the VEX Continuous Rotation Motors and VEX Servos. The Motors can rotate infinitely, while the range of rotation of the Servos is restricted to 150 degrees. • The most fundamental concept of the Motion Subsystem is the use of a square shaft. Most of the VEX motion components use a square hold in their hub which fits tightly on the square VEX shafts. This square hole / square shaft system transmits torque without using cumbersome collars or clamps to grab a round shaft. • Each VEX Motor & Servo comes with a square socket in its face, designed to connect it to the VEX square shafts. By simply inserting a shaft into this socket it is easy to transfer torque directly from a motor into the rest of the Motion Subsystem. • The square shaft has rounded corners which allow it to spin easily in a round hole. This allows the use of simple bearings made from Delrin. The Delrin bearing will provide a low friction piece for the shafts to turn in. • The Motion Subsystem also contains parts designed to keep pieces positioned on a VEX shaft. These pieces include washers, spacers, and shaft collars. VEX Shaft Collars slide onto a shaft, and can be fastened in place using a setscrew.
VEX Power Subsystem • There are two major power considerations for a VEX robot; robot power and joystick power. The robot is powered by a rechargeable 7.2V battery pack. • The VEXnet Joystick is powered by 6 AAA batteries.
VEX Sensor Subsystem • The sensor subsystem gives the robot the ability to detect various things in its environment. The sensors are the “eyes and ears” of the robot, and can even enable the robot to function independently of human control. A robot senses its environment and adjusts its own behaviors based on that knowledge. A sensor will generally tell the robot about one very simple thing in the robot’s environment, and the robot’s program will interpret that feedback to determine how it should react. • Some of these include ultrasonic range finders, gyroscopes, light sensors and optical encoders. For a full list of all sensors available, please visit: http://www.vexrobotics.com/products/accessories/sensors
VEX Logic Subsystem • The Logic Subsystem major component is one of the VEX Micro controllers. A micro controller is the most integral component of the entire VEX system, because it coordinates and controls all the other components. The Logic Subsystem is effectively the robot’s brain. • The VEX Cortex Micro controller comes preprogrammed with a default routine which allows users to get their robots up and running as quickly as possible. With the use of jumper pins, quick adjustments can be made to this default code for greater flexibility. For more advanced programming options, the micro controller can be fully user programmed using one of the available programming options.
VEX Control Subsystem • The Control Subsystem enables a human operator to maneuver the robot. Commands are issued through joysticks and buttons on the VEXnet Joystick, and sent wirelessly to the robot. In this way, the robot can be controlled through a combination of manual and autonomous methods. • The VEXnet Joystick allows a human operator to control a robot in real time using the innovative VEXnet Wireless link. The joystick has two 2-axis analog joysticks, 4 trigger buttons and two 4-button directional pads.
VEX Cortex Microcontroller The VEX Cortex Micro-controller coordinates the flow of all information and power on the robot. All other electronic system components (motors, sensors, etc.) interface with the Cortex Micro controller. It has built in bi-directional communication for wireless driving, debugging and downloading using the state of the art VEXnet wireless link.
VEX Cortex Microcontroller The Micro-controller is the brain of every VEX robot. A robot is a very complex system of parts that must work together in order to achieve a desired goal. Electronic control provided by a programmable controller like the VEX Cortex Micro-controller allows the robot to coordinate the operation of the different components and achieve its goals.
VEXnet Joystick Although many robots are designed to operate autonomously, there are often situations where manual control of a robot is necessary. The VEXnet Joystick allows a human operator to control a robot in real-time using the innovative VEXnet Wireless link. The human operator sends commands to the robot by interacting with the buttons and joysticks on the VEXnet Joystick.
VEXnet Joystick • The joystick has two 2-axis analog joysticks, four trigger buttons and two 4-button directional pads. • It also has an accelerometer that provides X-Y tilt outputs. • This allows you to control an arm or drive system by changing the orientation of the joystick (tilting).
VEXnet Joystick The human operator sends commands to the robot by interacting with the buttons and joysticks on the VEXnet Joystick. These commands are sent to the Cortex Micro-controller via VEXnet signals through a VEXnet USB Adapter Key to one attached to a microcontroller on a VEX robot.
VEXnet Wireless Link The VEX Cortex Microcontroller uses a wireless link for communications through a proprietary VEXnet implementation. This implementation is designed to eliminate the need for any knowledge of IP addresses, MAC addresses, security settings, and IP protocols. Just turn it on and it automatically connects to the correct Joystick.
Control System • Lifting System • Drive Train • Manipulator System
Drive Train The Drive Train is responsible for moving the Robot to locations and position the robot in positions optimum for executing the various tasks Drive Trains come in many different varieties and like everything in engineering there are trade-offs as it comes to speed versus agility versus pushing power
Lifting System Every Robot has some sort of lifting system to place the manipulator in various positions to perform tasks Every lifting system is full of compromises - agility versus strength versus height/length
Manipulator Every Robot has at least one Manipulator to interact with items and to execute specific tasks Manipulators require careful taught and the more tasks they must perform the harder they are to construct
Control System A Robots Control System is responsible for managing the drive train, lifting system, the manipulator It manages the power but also interacts with its environment so that a robot can make autonomous decisions
Robot Systems A Robot is only as good as to how all the various systems are designed and constructed and integrated to work together! How well you integrate them will go a long way to having a successful robot for the game!
