Вы находитесь на странице: 1из 40

Introduction to Basic Robotics

Parts/Systems

About the Presenters


Brant Bowen
President of Indiana FIRST
Operations Engineer at AndyMark
John Downey
Staff Advisor for Purdue FIRST Programs
Precision Guessworks (#1646) Mentor
Robot Inspector

Warning!
This information is based
on our experience from
previous years
Any of this can change
when the 2011 game is
released by FIRST

What We Will Cover


Drivetrains
Electrical System
Operator Interface

Drive Systems

Motors
CIM Motor (Chiaphua)
Fisher Price Motor
Denso Window Motor

Gearbox
Toughbox
Transmission
Gear Reducer
Reduces speed of motor
output
Increases your output
torque

Chains, Sprockets, Hubs


Connect motors to wheels

Drive Systems
Use combinations of gearboxes, motors, and wheels to
design a drive system.

Drive Systems
There are many varieties of drive systems:
Tank Drive
4 Wheel Drive
6 Wheel Drive
Mecanum Drive Systems
Swerve Drive Systems
Holonomic Drive Systems

4 Wheel Drive

6 Wheel Drive

Mecanum/Holonomic Drive System

Holonomic Drive System

Electrical Diagram

Electrical Diagram

Battery
EnerSys NP 18-12
Only robot power
source

Electrical Diagram

120 Amp Breaker


Main Breaker
Power Switch
All current runs through
this component

Electrical Diagram

Power Distribution Board


Breaker Panel
Power Board
Distributes power to the rest
of the robot

Electrical Diagram

National Instruments CompactRIO


NI cRio
The "brain"
The "computer"
Programmable microcontroller

Electrical Diagram

Digital Sidecar
Provides an easy interface
to the cRIO digital module
Outputs for PWM
Digital Input/Output
IFI Spike Relays

Electrical Diagram

Speed Controllers
Lets cRIO regulate voltage to
motors
Both can be controlled with the
PWM ports on the Digital Sidecar
Jaguar's can be controlled via
the CAN bus as well

Electrical Diagram

Camera
AXIS M1011 or 206
Provides vision capabilities to robot
Paired with algorithms donated by NI

Electrical Diagram

Wireless Bridge
Linksys WGA600N or WET610N
Also called radio or gaming adapter
Lets the cRIO communicate with the field and controls

Electrical Diagram

Signal Lamp
Solid ON = Good
Slow Blink = Disabled
Fast Blink = No Communication

PWM Cables
Also called a servo cable
Most used signal cable
PWM
Digital I/O
IFI Spike

Operator Interface

Classmate PC
Laptop computer
Newest component
Main part of the driver
station
Live feedback through
customizable dashboard

Joysticks
Also called flight sticks
Primary method for driving and
operating robot
Secondary buttons for operating
Shooting
Shifting the drive

Stop Button

Photo Credits
http://www.flickr.com/photos/nasahqphoto/
http://www.flickr.com/photos/nifirstrobotics/
http://www.andymark.biz/
http://www.denso-europe.com
http://www.team228.org
http://team358.org

Questions?

Вам также может понравиться