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FRC Pneumatics

FRC Pneumatics

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FRC Pneumatics

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  1. FRC Pneumatics Nate Laverdure FRC Team 122

  2. Everything I wanted to know FRC Pneumatics, but was about afraid to ask Chief Delphi Nate Laverdure FRC Team 122

  3. What is this presentation? Goals: • Teach you the words transducer, damper, and venturi

  4. What is this presentation? Goals: • Teach you the words transducer, damper, and venturi • Attempt to: • Show that pneumatics have great advantages – if used correctly! • Provide a workable understanding of FRC pneumatics

  5. What is this presentation? Goals: • Teach you the words transducer, damper, and venturi • Attempt to: • Show that pneumatics have great advantages – if used correctly! • Provide a workable understanding of FRC pneumatics My personal goal: inspire you to build your own pneumatic system!

  6. What are pneumatics? Pneumatics use pressurized gas to effect a mechanical motion

  7. What are pneumatics? Pneumatics use pressurized gas to effect a mechanical motion The working gas is typically air— 78% N2 21% O2 1% others

  8. What are pneumatics? Other actuation systems: pneumatic pressurized gas hydraulic pressurized liquid electric electrical energy

  9. What aren’t pneumatics? Closed-loop systems: • Pneumatic tires • Inflatable game pieces

  10. What aren’t pneumatics? Closed-loop systems: • Pneumatic tires • Inflatable game pieces • Linear dampers (aka “gas shocks”)

  11. Why should I use pneumatics? Strengths: • Linear motion • Adjustable force and speed • Good stall behavior (Can maintain high force, even with no motion) • Easy to configure • Low marginal weight

  12. What is marginal weight? Actuators Electric motors Weight 2 5 1 3 4

  13. What is marginal weight? Actuators Electric motors Weight 2 5 1 3 4

  14. What is marginal weight? Actuators Electric motors Weight Marginal weight 2 5 1 3 4

  15. What is marginal weight? Actuators Electric motors Pneumatics Weight Break-even point High initial weight 2 5 1 3 4

  16. Why should I not use pneumatics? Weaknesses: • High initial weight • Severely limited available positions • Difficult to produce rotary motion • Capacity limits • Complex troubleshooting

  17. Why should I not use pneumatics? Weaknesses: • High initial weight • Severely limited available positions • Difficult to produce rotary motion • Capacity limits • Complex troubleshooting Mitigations: • Add more actuators • Decreases average weight per actuator • Use off-board compression • Caution: more severe capacity limits!

  18. Why should I not use pneumatics? Weaknesses: • High initial weight • Severely limited available positions • Difficult to produce rotary motion • Capacity limits • Complex troubleshooting Mitigations: • Either open or closed • No truly controllable multi-position actuators • Various hacks have come close • Caution: may not be legal in FRC 2014!

  19. Why should I not use pneumatics? Weaknesses: • High initial weight • Severely limited available positions • Difficult to produce rotary motion • Capacity limits • Complex troubleshooting Mitigations: • Bell crank or other linkage • Rotary actuator (turbine) • Caution: severe capacity limits and extremely low torque!

  20. Why should I not use pneumatics? Weaknesses: • High initial weight • Severely limited available positions • Difficult to produce rotary motion • Capacity limits • Complex troubleshooting Mitigations: • Use on-board compression • Caution: weight penalty! • Use lower operating pressures • Use spring-return cylinders

  21. Why should I not use pneumatics? Weaknesses: • High initial weight • Severely limited available positions • Difficult to produce rotary motion • Capacity limits • Complex troubleshooting Mitigations: • Know your system! • Create and maintain a flow diagram • Practice responding to common problems

  22. FRC pneumatics system HP MP LP

  23. FRC pneumatics system Vacuum HP MP LP1 LP2 LP3 … LPn

  24. FRC pneumatics system Vacuum Subsystems: HP MP LP1 LP2 LP3 … Compression Accumulation Safety Control LPn Control Actuation Control Actuation

  25. Compression subsystem Components: • Compressor CMP HP

  26. Compression subsystem Components: • Compressor Options: CMP HP Viair Thomas Alternatives 2011 - 2013 2003 - 2010 ??? - ???

  27. Accumulation subsystem Components: • Accumulator TANK HP

  28. Accumulation subsystem Components: • Accumulator Options: TANK HP ? Clippard Pneuaire Alternatives

  29. Safety subsystem Components: • Pressure relief valve • Manual vent valve HP

  30. Safety subsystem Components: • Pressure relief valve • Manual vent valve • Pressure relieving regulator • One on each leg • Pressure gauge • One on each leg HP HP MP MP LP

  31. Safety subsystem HP HP MP MP LP

  32. Control subsystem cRIO Pneumatic components: • Pressure switch • Solenoid valve PS HP MP or LP

  33. Control subsystem cRIO Pneumatic components: • Pressure switch • Solenoid valve Electrical components: • Spike relay • Digital sidecar • Solenoid breakout module (cRIO) PS HP MP or LP

  34. Control subsystem cRIO PS HP MP or LP

  35. Diagramming the solenoid valve

  36. Diagramming the solenoid valve Position & flow boxes Left actuator Right actuator

  37. Diagramming the solenoid valve Position & flow boxes Left actuator Right actuator Piloted solenoid with manual override External pilot Solenoid Spring Detent Lever Push button

  38. Diagramming the solenoid valve Position & flow boxes Left actuator Right actuator 2-way 4-way 3-way 5-way

  39. Example

  40. Example “This is a single-acting 4-way, 2-position solenoid valve with lever override.”

  41. Example

  42. Example “This is a 4-way, 3-position, blocked center piloted solenoid valve with pushbutton overrides.”

  43. Actuation subsystem Components: • Cylinder • Double acting • Single acting (spring return) • Rotary actuator (turbine)

  44. Actuation subsystem Components: • Cylinder • Double acting • Single acting (spring return) • Rotary actuator (turbine) • Vacuum actuator • Venturi • Suction cup

  45. Actuation subsystem

  46. Actuation subsystem Warning: Venturis require constant flow to maintain vacuum!

  47. Bernoulli’s principle

  48. Optional components cRIO Pressure transducer Flow control valve PT

  49. Optional components cRIO PT

  50. cRIO PS CMP TANK HP TANK MP LP