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Robotics Machine Safety and Drive Train Overview

Learn the importance of robotics machine safety, drive train components, and maintenance. Understand various drive train configurations and key components in building a functional robot. Ensure safety and efficiency in your robotics projects.

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Robotics Machine Safety and Drive Train Overview

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  1. Mechanical TechnologyGabriel OrricoTeam 303

  2. Importance of robotics Machine Safety Drive train Motor and parts Where to start Preventative maintenance Robot inspection Some ideas Overview

  3. Teamwork and participation • Leadership • Science and technology • Solve problems Importance of robotics

  4. Before build or handle components, safety!!!

  5. 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

  6. 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

  7. Game plan before Firm grip Take time Sharp = don’t touch Band Saw Safety

  8. Correct set-up • Compensate for blade (measure) • Firm grip, stand back • Wait until blade stops Circular Saw Safety

  9. Drive train

  10. Drive train segment Legend Drive base Wheel Ball caster Pivot point

  11. Four Wheel Drive • Regular drive forward and back • Have to “skid” to turn • Simple • Bad maneuverability

  12. Six Wheel Drive • Regular drive forward and back • Have to “skid” to turn • Relatively simple • Bad maneuverability

  13. Six Wheel Drive contd.

  14. Six Wheel Drive contd. Center wheel lowered ¼ inch to provide good turning radius

  15. Two Wheel-Two Caster Drive • Turns like shopping cart. Front “swings around” • Simple • Pretty good maneuverability

  16. Two Wheel-Two Caster Drive contd.

  17. 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

  18. Harmonic Drive contd. Same idea but different configuration

  19. 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

  20. 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

  21. Rack and Pinion • Back wheels stationary, front wheels rotate to change direction • Four drive motors • Like a car • Very complicated • Great maneuverability

  22. So how dowe build this?

  23. 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

  24. 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

  25. Friction Belts • Easily available • Cheap • Will slip under too much load • For some, it’s a feature. For some, it’s a nightmare. Belting

  26. 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

  27. AndyMark Single Speed Gearbox • 12:1 ratio • Mimics previous Kit of Parts gearboxes • Accepts one or two motors • ~$100 ea. Power Transmission: Gearboxes

  28. 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

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

  30. So with all thisknowledge. . .

  31. 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

  32. 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

  33. 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.

  34. 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

  35. 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

  36. Importance of robotics Machine Safety Drive train Motor and parts Where to start Preventative maintenance Robot inspection Some ideas Summary

  37. Questions?

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