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Mechanical Technology Gabriel Orrico Team 303. Importance of robotics Machine Safety Drive train Motor and parts Where to start Preventative maintenance Robot inspection Some ideas. Overview. Teamwork and participation Leadership Science and technology Solve problems.

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Mechanical Technology Gabriel Orrico Team 303


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Presentation Transcript
overview

Importance of robotics

Machine Safety

Drive train

Motor and parts

Where to start

Preventative maintenance

Robot inspection

Some ideas

Overview
importance of robotics

Teamwork and participation

  • Leadership
  • Science and technology
    • Solve problems
Importance of robotics
general safety

Its important to keep shop clean

Don’t be afraid to ask questions

Always wear safety glasses

Wear gloves when you can

Doesn’t look right = ask

General Safety
drill press safety

Secure bit

      • Make sure fits correctly
  • Don’t do too much
  • Wait till bit stops
  • Advanced: When changing belts, make sure unplugged
  • Fast = don’t touch
Drill Press Safety
band saw safety

Game plan before

Firm grip

Take time

Sharp = don’t touch

Band Saw Safety
circular saw safety

Correct set-up

    • Compensate for blade (measure)
  • Firm grip, stand back
  • Wait until blade stops
Circular Saw Safety
drive train segment legend
Drive train segment Legend

Drive base

Wheel

Ball caster

Pivot point

four wheel drive
Four Wheel Drive
  • Regular drive forward and back
  • Have to “skid” to turn
  • Simple
  • Bad maneuverability
six wheel drive
Six Wheel Drive
  • Regular drive forward and back
  • Have to “skid” to turn
  • Relatively simple
  • Bad maneuverability
six wheel drive contd1
Six Wheel Drive contd.

Center wheel lowered ¼ inch to provide good turning radius

two wheel two caster drive
Two Wheel-Two Caster Drive
  • Turns like shopping cart. Front “swings around”
  • Simple
  • Pretty good maneuverability
harmonic drive
Harmonic Drive
  • Uses Omni-wheel (Above) to turn quickly in different directions with combinations of certain wheels going forward or backward
  • Four drive motors
  • Complicated
  • Good maneuverability
harmonic drive contd
Harmonic Drive contd.

Same idea but different configuration

mecanum drive
Mecanum Drive
  • Basic four-wheel set-up with mecanum wheels and four drive motors
  • Each wheel goes diagonally one way so each needs to be a certain way
  • depending on spot (4 possibilities)
  • Similar to harmonic, change directions based on different wheels going different ways
  • Complicated
  • Great maneuverability
  • http://www.youtube.com/watch?v=npWA5AdZIGQ
crab drive
Crab Drive
  • Uses wheels but has chain that connects and spins all wheels together
  • One motor to rotate each wheel, one drive motor per wheel
  • Very complicated
  • Great maneuverability
  • http://www.youtube.com/watch?v=q9uck-wRa_8
rack and pinion
Rack and Pinion
  • Back wheels stationary, front wheels rotate to change direction
  • Four drive motors
  • Like a car
  • Very complicated
  • Great maneuverability
components suitable kop drive motors

CIM

    • Most popular drive motor because it mates to Kit of Parts transmissions from ’05-present
    • Most powerful motor in the kit – 340W
  • Fisher Price
    • Usually come with 100:1 gearbox attached; gearbox has plastic gears
    • Most often replaced motor in FIRST
Components: Suitable KOP Drive Motors
components

2+ Motors Per Side

    • Speed and torque are inversely related
      • Adding motors mitigate the effect of this – a drive train with 2+ motors per side can move a given load faster than a drive train with a single motor per side.
    • Not worth it!
      • 2 per side is really all you need
Components
belting

Friction Belts

    • Easily available
    • Cheap
    • Will slip under too much load
      • For some, it’s a feature. For some, it’s a nightmare.
Belting
power transmissions gearboxes

COTS gearboxes are fantastic alternatives for teams without heavy manufacturing capability

    • They require a bit of extra money, though.
  • Reliable
  • Large install-base with troubleshooting experience
  • A great investment
Power Transmissions: Gearboxes
power transmission gearboxes

AndyMark Single Speed Gearbox

    • 12:1 ratio
    • Mimics previous Kit of Parts gearboxes
    • Accepts one or two motors
    • ~$100 ea.
Power Transmission: Gearboxes
power transmission gearboxes1

AndyMark 2-speed Transmissions

    • Low: 10.67:1; High 4.17:1 ratios
    • Available with pneumatic or servo powered shifting
    • Heavier than a custom design
    • Accepts one or two motors
    • Several output options
    • $330+ ea.
Power Transmission: Gearboxes
power transmissions gearboxes1

Banebots Planetary Transmissions

    • Included in 2007 Kit of Parts
    • 12:1 Ratio
    • Pretty easy to put on
    • Versitile
    • ~$90
  • Window motor
Power Transmissions: Gearboxes
where to start

Conceptually plan, consider priorities

    • KISS = Keep it simple, stupid
    • RRRR = Reliability, Reparability, Relevance and Reasonability
  • Build test field, parts
  • Create CAD/paper design early
    • Order parts (Mcmaster-carr), prepare key members
    • Modular?
  • Build robot
    • Allow extra time for building, practice
    • Plan B bot?
Where to start
preventative maintenance

A check over all systems before every match

    • Prevents major repairs from being needed
    • Allows for optimal performance
  • Make a check list
    • Check once the robot gets back
    • Again when robot is going to

next match

    • Two person job
Preventative Maintenance
preventative maintenance checklist ex

Bolts should be checked for tightness

  • Chains taught
  • Battery charged
  • Check key features first
    • Gearboxes
    • All motor attachments
    • Problem spot that the team knows of
Preventative maintenance checklist ex.
robot inspection

Mandatory

  • Do it early so the problems can be fixed
    • No sharp edges
    • Team number and school name visible
    • Electrical wires safe
  • Keep record of purchases, parts
  • Go to inspection with bumpers off, wear gloves and have bill of materials
  • Design award: Team member to talk to judges
Robot Inspection
ideas how to play this year s game

2013: Frisbee launcher

    • http://www.youtube.com/watch?v=8KVK8svZzbI
    • http://www.youtube.com/watch?v=tLHyVlUO5jo
Ideas – how to play this year’s game
summary

Importance of robotics

Machine Safety

Drive train

Motor and parts

Where to start

Preventative maintenance

Robot inspection

Some ideas

Summary