ORTOP Robotics Techniques

ORTOP Robotics Techniques - 2006
Workshop III ROBOTICS TECHNIQUES 2006 “Opening doors to the worlds of science and technology for Oregon’s youth” 11/22/2018 ORTOP Robotics Techniques

Goals Audience: Rookie & Experienced Coaches & Mentors Provide Material That Is Immediately Usable With Your Team Gain Team Experiences: Creativity, Decisions, Planning, Failure, Deadlines You should have already attended workshops I & II 11/22/2018 ORTOP Robotics Techniques

Instructor Contacts Roger Swanson Scott Stanko Ken Cone Jim Ryan Cathy Swider 11/22/2018 ORTOP Robotics Techniques

Agenda Introductions (5 min) Slide Review (55 min) Break into Teams Do 2-3 Sensor / Locomotion Exercises (90 min) Review References (10 min) 11/22/2018 ORTOP Robotics Techniques

Agenda Handouts for this workshop: Techniques2006.ppt Notebook2006.doc LEGO Gears2006.doc RCXBasics2006.doc WorkshopCD2006 (handout at W2) 11/22/2018 ORTOP Robotics Techniques

Our Mission FLL is not just about building robots and competing in tournaments Develop team member skills technical team building research & presentation Technical problem solving can be fun The youngsters do the work Introduce possibility of a technical career 11/22/2018 ORTOP Robotics Techniques

Team Basics Make sure your team has the basics: Office Supplies, Paper, Pencils, Notebooks Start a Team Notebook capture designs & experimental data pictures and sketches daily activity log date, task, notes allows the team to track progress 11/22/2018 ORTOP Robotics Techniques

Assembly Basics Moving on to Assembly Basics: LEGO Parts Identification Technic Liftarm 2x4 L shape Technic Liftarm 1x5, 1x7 Technic Liftarm 3x5 L shape Technic Liftarm 1x9 Bent Technic Pin Joiner Dual Axles & Pins Have kids inventory your kit & get to know the parts 11/22/2018 ORTOP Robotics Techniques

Assembly Basics LEGO Bumps vs. Pins open your kit, find two 2x8 plates Find the Technic Liftarms and two pins shown construct the pieces shown snap on connections are strong in shear & compression, but weak in tension which piece is strongest joint? (depends on the application) Robot should pass 6” drop test 11/22/2018 ORTOP Robotics Techniques

Assembly Basics Squares Have your team build simple square w/ beams & plates Discuss pros & cons of squares on your robot Review: “Building_Lego_Robots_Minnesota” Simple frame shown Improved with 2 x 8 plate 11/22/2018 ORTOP Robotics Techniques

Assembly Basics Lego Geometry Have your team build a simple T with beams & pins Discuss pros & cons on your robot Cross Bracing (BLRM Fig1-15) 11/22/2018 ORTOP Robotics Techniques

Assembly Basics Gears Spur Gear (show example) instructor holds beam class person turns axles and feels torque on other axle tactile feedback = learning about gears and torque Gear Ratio and Speed turn large gear one complete turn. How may times does small gear turn? 11/22/2018 ORTOP Robotics Techniques

Assembly Basics Torque can be thought of as rotational force torque causes something with mass to rotate a force can create a torque by acting through a moment arm (picture a wrench turning a bolt) a motor produces a torque – transferred to gears and to axles that turn the wheels gears change speed and torque e.g. changing bicycle gears to go up a hill 11/22/2018 ORTOP Robotics Techniques

Assembly Basics More Gears Worm Gears one way transfer of power (show example) Pulleys use for slippage during lifting Clutch slippage after torque value listed on clutch GS Day Camp pages on gears instructor hold up 3 page handout 11/22/2018 ORTOP Robotics Techniques

Assembly Basics Wheels & Tracks & Skids wheelbase length – depends on application wheel loading – support of axle wheels without tires = skids Swivels & guide wheels 11/22/2018 ORTOP Robotics Techniques

Assembly Basics Center of Gravity balanced vs. tips over (BLRM Fig3-9) discuss location of RCX with respect to wheel frame – if high, might tip over -- if low, might drag going over obstacles motor starting torque can tip a robot over backwards! 11/22/2018 ORTOP Robotics Techniques

Assembly Basics Center of Gravity If the CG is outside the wheels, the robot will tip over with motor starting torque 11/22/2018 ORTOP Robotics Techniques

Assembly Basics Batteries Battery discharge rate first hour 1.65v to 1.5v 2-3 hours at 1.5v (save set of six) after 3 hours, slow discharge Variables to consider clocks, motor speed turns, distances 11/22/2018 ORTOP Robotics Techniques

Assembly Basics Bob the robot 1 Forward Lift Attachment 2 Wheelbase & Wheel Loading 3 Forward Pushers & Light Sensors 4 Battery Replacement 5 RoverBot Comparison & CG 6 Gears & Sensors 7 Front View 8 Worm Gear 9 Base Position Fixture 11/22/2018 ORTOP Robotics Techniques

RCX & Sensor Basics Handout: RCXBasics2006.doc Inputs, Outputs, Command Buttons Explore Built-in Programs 1,2,3 motor drives touch sensors light sensors 11/22/2018 ORTOP Robotics Techniques

NXT Basics - Controller
11/22/2018 ORTOP Robotics Techniques

NXT & Sensor Basics Handout: NXTBasics2006.doc Inputs, Outputs, Command Buttons Explore Built-in Programs motor drives with position feedback touch sensors light sensors distance & sound sensors 11/22/2018 ORTOP Robotics Techniques

Programming Resources
ROBOLAB for RCX ROBOLAB Tutorial, Dale Yocum CD On ORTOP CD or download from takes time, go through in sections NXT programming tutorial coming soon 11/22/2018 ORTOP Robotics Techniques

Inventor Program Editing Hints (demo) Copy & paste Shift key to select objects Right click object to replace Add text comments Use music notes to debug program Help > show context help Wiring square corners with space bar 11/22/2018 ORTOP Robotics Techniques

Add Comments to your programs Use 4 team members to act out robot moves Motor A, Motor B for robot movement One person telling them how to move One person writing down program steps Add program steps as comments Fill in icons to match program steps 11/22/2018 ORTOP Robotics Techniques

Sensor Exercises Following slides are team exercises: 1 Rotation 2 Light 3 CHAIR that uses several sensors 4 Gearing 11/22/2018 ORTOP Robotics Techniques

Sensor Exercises 1) Rotation Sensor Add a rotation sensor to RoverBot, input 2 Try this simple move program Rotation1.vi Does the program give the same result each time you run it? What distance does the robot move? Travel straight for 2’, land in 1” circle 11/22/2018 ORTOP Robotics Techniques

Sensor Exercises 2) Light Exercise 1, “light-and-dark.vi” Measure light and dark values “wait for darker” and “wait for dark” Cutoff Brightness value 0=darkest, 100=lightest Open “light-and-dark.vi” in Robolab Follow exercise instructions page 16 of notebook handout. 11/22/2018 ORTOP Robotics Techniques

Sensor Exercises 3) Move in “chair” pattern 1 start with back against wall 2 go forward 2’ , stop, turn 90 deg. CCW 3 go forward 2’ , stop, turn 90 deg. CW 4 go backward until touch wall 5 go forward until detect black line 6 stop and play tune (notice comments form specs. for program!) see following slide (left brain instructions) 11/22/2018 ORTOP Robotics Techniques

Sensor Exercises 3) Move in “chair” pattern 5,6 end 3 2 4 1 start (right brain instructions) 11/22/2018 ORTOP Robotics Techniques

Locomotion Exercises 4) Gearing Exercise Begin with pre-built RoverBot Remove front wheel 40 tooth gears How fast does robot climb inclined plane 11/22/2018 ORTOP Robotics Techniques

Locomotion Exercises Gearing Exercise Change gears to 24 – 24 How fast does robot climb inclined plane Record results in log book 11/22/2018 ORTOP Robotics Techniques

Team Exercises Today’s Workshop Exercises Form into teams of 3-4 Do “light-and-dark.vi” Do Gearing Exercise Do Chair Pattern if time permits use “h-pattern-move.vi” program or create your own 11/22/2018 ORTOP Robotics Techniques

Team Exercises You will find class example programs in handout Record notes in your notebook BREAK START NOW, you have 90 min! (instructor: show light-and-dark.vi) 11/22/2018 ORTOP Robotics Techniques

Team Exercises Class Exercises Comments from Teams Design reviews are an every day experience in engineering. Take 5 min and select a team spokesperson Take 2 minutes per team and tell the class what exercises you did Tell what you liked about the exercises Tell what you would change in the exercises 11/22/2018 ORTOP Robotics Techniques

Information Resources Inscite Google “minnesota first lego” and select the .pdf file “Building Lego Robots for...” LegoMentorManual.pdf from Minnesota FIRST LEGO League 11/22/2018 ORTOP Robotics Techniques

Information Resources Activities Programming In the Classroom Building and Designing 11/22/2018 ORTOP Robotics Techniques

Information Resources Identifying LEGO Parts Introduction to Gears Gears & Distance Investigation In CMU Robotics Academy folder 11/22/2018 ORTOP Robotics Techniques

Information Resources Note: this page uses time to download Robolab CD by Dale Yocum 11/22/2018 ORTOP Robotics Techniques

Information Resources – ORTOP CD Girl Scout Lego Robotics Day Camp Brainstorming Gears Leading Questions for Mentoring Debugging Tips workshop06 slides I, II, III 11/22/2018 ORTOP Robotics Techniques

Information Resources Videos of previous tournaments on DVD coaches show videos at beginning of team meetings to focus kids. (2002 is on CD.) available at FLL site good resource, answers many questions at 11/22/2018 ORTOP Robotics Techniques

Information Resources – recommended books 'Building Robots With Lego Mindstorms' by Marion Ferrari, Giulio Ferraro, and Ralph Hempel 'Creative Projects With Lego Mindstorms' by Benjamin Erwin 'Dave Baum's Definitive Guide to Lego Mindstorms' by Dave Baum 11/22/2018 ORTOP Robotics Techniques

Information Preparation for the Tournament FIRST Team Challenge Kit Judging information on ORTOP site Measure distances on the challenge board Early registration in spring helps team get started, registration opens in May06 11/22/2018 ORTOP Robotics Techniques

Review & Wrap-up Engineering is designing to constraints Allow your teams the experience of developing a creative solution to solve a problem 11/22/2018 ORTOP Robotics Techniques

Review & Wrap-up Please give us your input need volunteer survey URL Let ORTOP know how we can improve the program Thanks for volunteering, your effort makes learning possible! Break down robots and put parts back into boxes 11/22/2018 ORTOP Robotics Techniques

Our Mailing Lists Totally voluntary, and you can opt out ortopvol All volunteers One way from ORTOP to our volunteers We add you when you volunteer ortopcm Coaches and mentors Communication among that group and with ORTOP We add you when you complete a workshop 11/22/2018 ORTOP Robotics Techniques

Contact Us Website: Scott Stanko answers the questions Phone: (Cathy Swider) or (Bruce Schafer) 11/22/2018 ORTOP Robotics Techniques

ORTOP Robotics Techniques

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