Pneumatics

Utilizing Pneumatics;

Pneumatics are not scary, despite common belief They are the easiest way to add motion; huge difference maker between teams who constantly perform well and teams who have highlights and lowlights Using a motor is way more complicated compared to what pneumatics can do for simple situations Basic, simple, using compressed air to do work; covering air pressure to mechanical energy

-Three components:

Storage
Solenoids - controls
Actuators - do work

—Full system

High pressure, Low pressure, Lowest pressure
[Insert system overview slide, David]
Everything to run pneumatics system is here except for wires to control it
good idea to create similar system before build season; good practice and good 	 prototype for testing, getting the hang of pneumatics

—Starting with the air

All air used comes from a compressor
A compressor can be either on board or off the robot
Any compressor can be used as long as it meets these specs:
		-Nominal 12V
		-1.05 cam (cfm metric for how much air can be pushed through at a certain time)
These specs must be followed, whether the compressor is on-board or off

—Potential options for a compressor

2010 KOP and Earlier
	-Thomas Compressor

2011-13 KOP
	-Viair Compressor
	-VIAIR 00090

—High pressure and storage

Air is stored at 120psi	
Air can be stored in any pressure Vessel rated for 125psi Working Pressure
Must have a pressure transducer, blow off valve, and a dump valve

—More on Storage

Greater storage generally means less time the compressor runs
Consider how many cylinders and size
More storage on the robot, more air you can keep and the less you have to run to compressor
Don’t be afraid of running compressor, but it’s good to not be using it all the time

—Dump valve, pressure reg., and blow-off valve

Commonly assembled inline with brass
All have to be on high pressure side before 60psi regulator
Make sure it isn’t just at 100, because you would constantly dumping air
Have it be easily accessible
One of the refs has to be able to see it and interact with it easily, if they can’t, considered illegal

—Low pressure side

Starts at 60psi regulator
can be 60psi or lower
	Too low a pressure can cause solenoids to not trigger

—Solenoids

Essentially an on/off switch for air
Inputs and outputs based on signals
[Insert 3 photos of solenoids from slideshow David]
Work great with prototyping/testing, programming not required; easily activated with a button push.

—Things to consider when choosing a solenoid

Voltage: 24V vs 12V?
Single vs double?
Use a manifold?
Does it stay within FIRST rules? <— important
Make sure to plan ahead

—Cylinders

Bimba gives teams 3 free cylinders 
Things to consider when selecting a cylinder
	Force required
	Distance device needs to be moved
	Space available
Bent cylinders are essentially useless
One directional; follow the air flow
Slightest bend or scratch can affect how air goes into the cylinder

—How to calculate the force of a cylinder

Take your working pressure, WP, in psi
Bore of cylinder, B in in^2
For extension force = WP*B

—Cylinder Length

Stroke: Distance from cylinders shaft will extend from its starting point

—Control System

Much simpler
All components to one module
Module controlled by RoboRIO
CAN controlled
“plug and play”

—How to effectively use Pneumatics

Ensure a Pneumatic cylinder is best suited for the application
Remember cylinders are “digital”
	They have an extended and closed position, nothing in between
Consider where else you will be using pneumatics
Carefully plan the layout
	Know where:
		You will mount the compressor
		your storage tanks will reside
		Your solenoids will go
			Try to use a manifold if possible
Plumbing a pneumatics system is like wiring
	Do it slowly and carefully, more time spent setting up = less time troubleshooting

Mistake everyone does Make sure you’re making a clean cut every time Cut it longer than needed first, then trim it down Air leaks cause a pneumatics system to quickly fall apart

—Examples of bad setups

“spaghetti” 
Make sure everything is neat and laid out, similar to clean wiring, labels may be applicable

—‘Okay’ setup

Tubing is great, everything is contained
Wiring is unkempt
Closed box means difficult troubleshooting

—‘good’ setup

Clean, everything has it’s own place
Organized

—At the competition

Inspection
	Let the inspector do their job
	Point out components when asked
Don’t try to hide anything
Help it be quick; everyone wants it to go by fast
Keep and eye out for any leaks
charge tanks before match
Be vigilant; going out for lunch, charge tanks before hand
See a worrisome leak, ADDRESS IT
Dab soapy water onto connections. If you see more bubbles, that means leakage

—Hints and tips

Little things that make life easy
	Always cut tubing so it has square ends
	use and properly apply teflon tape
	Different color tubing
	Manifold
	less brass
		Make sure to buy high quality tubing, cracked tubing is not good
		make sure bought tubing is legal
	Building robots, not building a house, weight matters

—Should you use pneumatics?

Pneumatics is simple, but there are other ways
they add a lot of weight
demand on battery
speed
force/springiness
space required

—Useful resources:

www.bimba.com

www.autmationdirect.com

freelin-wade.com

smcusa.com
			and more on the slide show [David this is your cue]