Robot Construction For Competition Sustainability Tommy Earley Palmetto Regional FIRST Kickoff Event January 5, 2013

Introduction Rookies? 1 st Time Builders Welcome Interactive Discussion

Bio Tommy Earley, P.E. Electrical Engineer – Distribution Design Santee Cooper – Horry-Georgetown Distribution 7 th Year FIRST FRC Mentor – Team 1287 Education Berkeley High School c/o 99’ – Moncks Corner, SC Trident Technical College c/o 2004 – Associates in Science The Citadel c/o 2006 – Bachelors of Science in Electrical Engineering Work Background Auto Mechanic, Lab Technician Power Generation – Student Engineer Distribution Planning – Engineer Overhead and Underground Power System Design – Engineer

Robot Construction 1 ST AND FOREMOST ****READ THE MANUAL**** 2 nd K.I.S.S. 3 rd Think Skinny – Weight is Everything Frame Materials Steel Aluminum 8020 Carbon Fiber

Robot Construction Build Your PYRAMID Wisely Fasteners Weight vs. Strength Redundancy K.I.S.S. Save Time and $$$$$ Body Materials Lexan Plexiglass Sheet Metal

Robot Construction Drivetrain 2 x 4 4 x 4 4 x 6 Drive Type Tank Drive Mecanum Drive Swerve Drive Omni Drive 6 x 6 8 x 8 Tracks

Robot Construction Gearbox Planetary Toughbox Chain Belt Gear

Robot Construction Motors Know Types! Know Quantities! Motor Controllers Victor 888 Jaguar Talon Spike ???

Robot Construction Pneumatics Compressor New Type Old Type On-Board Off-Board Air Storage Small or Large Aluminum Clipper Plastic Clipper Other ??

Robot Construction Pneumatics (cont) Solenoid Valves Festo – 12V or 24V Other Comparable CFM (SMC) Fittings Quick Connect (Parker) Hard Connect (Swagelok) Cylinders Bimba – Flow Control ??? Always Leak Check Your System!!!

Construction Techniques Proper Construction Techniques Wiring No Room for Birds – NO BIRD NESTS Neatness is Key Wire Type Use Zip Ties Sticky Tabs are your friend Label Everything!!! Use proper connectors – Tug Test No Exposed Wires – Tape or Heat Shrink Secure ALL PWM Cables Modular Design ???

Construction Techniques Proper Construction Techniques Pneumatic Tubing Neatness is Key – Sound familiar? Connectors – Tug Test System Leak Check !!! Watch for Pinch Points Coil Tubing??? Solenoid Control – Single or Double Lock all Flow Controls Check Working Pressure – Each Match DID YOU CLOSE RELIEF VAVLE???

Construction Techniques Proper Construction Techniques Labeling Electrical Both Ends of Wire at ALL Connections Both Ends of PWMs at ALL Conn. Both Ends of all Solenoid Connections All Motors All Motor Controllers All Solenoids All Relays

Construction Techniques Proper Construction Techniques Labeling Pneumatics Hoses at ALL connections ALL Solenoid Valves In – Out or Forward – Reverse ALL Pressure Gauges ALL Cylinders

Troubleshooting Troubleshooting ???? This Robot will Last FOREVER!!! 1 st and Foremost – BE PREPARED!! Schematics Remember all that Labeling you did??? Wiring Schematic Communication / Control Power Pneumatic Schematic

Troubleshooting Tools Electrical Jumper Wires (Alligator Clip / Connector) Long and Short (12 AWG) Long PWM Cables (6 Feet) Long Solenoid Wire (6 Feet) Voltmeter Test Light

Troubleshooting Tools Pneumatic Hose Pair (Fastened Together 6 Feet) Jumper Wire – Bypass Pressure Switch Pressure Gauge (Ready To Connect)

Troubleshooting Parts The More Spare Parts the Better!!! ALWAYS have spares of Customized Parts Wire / PWMs / Solenoid Cables Breakers Motors Motor Controllers / Solenoids Gearboxes Wheels Bearings Cylinders And the List Goes on………………

Troubleshooting Determine your Weakest Link and Be Prepared for it to FAIL The more time you spend now the better off you will be at the competition Don’t get Lazy…..It’s going to BREAK!!! Keep a Rational Mind in the Heat of Competition Always work problems from a Highest Level Down Create Troubleshooting Flow Charts Most Importantly of all….. Stay Calm!

Questions & Answers Palmetto Regional FIRST Kickoff Event January 5, 2013