Introduction to Basic Robotics Parts/Systems
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Transcript of Introduction to Basic Robotics Parts/Systems
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Introduction to Basic Robotics
Parts/SystemsCass Lake Bena Robotics
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DrivetrainsElectrical SystemOperator Interface
What We Will Cover
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Drive Systems
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Motors
Denso Window Motor
Fisher Price Motor
CIM Motor (Chiaphua)
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Toughbox Transmission Gear Reducer Reduces speed of motor output Increases your output torque
Gearbox
Toughbox
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Connect motors to wheels
Chains, Sprockets, Hubs
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Use combinations of gearboxes, motors, and wheels to design a drive system.
Drive Systems
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There are many varieties of drive systems:◦Tank Drive 4 Wheel Drive 6 Wheel Drive
◦Mecanum Drive Systems◦Swerve Drive Systems◦Holonomic Drive Systems
Drive Systems
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4 Wheel Drive
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6 Wheel Drive
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Mecanum Drive System
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Holonomic Drive System
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Electrical Diagram
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Electrical Diagram
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EnerSys NP 18-12
Only robot power source
Battery
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Electrical Diagram
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Main Breaker Power Switch All current runs through
this component
120 Amp Breaker
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Electrical Diagram
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Breaker Panel Power Board Distributes power to the rest of the robot
Power Distribution Board
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Electrical Diagram
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NI cRio The "brain" The "computer" Programmable microcontroller
CompactRIO
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Electrical Diagram
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Provides an easy interface to the cRIO digital module.
Outputs for PWM Digital Input/Output IFI Spike Relays
Digital Sidecar
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Electrical Diagram
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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
Speed Controllers
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Electrical Diagram
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AXIS M1011 or 206 Provides vision capabilities to robot Paired with algorithms donated by NI
Camera
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Linksys WGA600N or WET610N Also called radio or gaming adapter lets the
cRIO communicate with the field and controls
Wireless Bridge
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Electrical Diagram
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Solid ON = Good Slow Blink = Disabled Fast Blink = No Communication
Signal Lamp
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Also called a servo cable Most used signal cable
◦ PWM◦ Digital I/O◦ IFI Spike
PWM Cables
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Operator Interface
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Laptop computer Newest component Main part of the driver station Live feedback through customizable
dashboard
Classmate PC
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Joysticks
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Stop Button
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Signal Flow