Dale Yocum, Head Mentor, Team 1540

The Flaming Chickens

dale@yocum.com
Based on presentation from
Tim Bennington-Davis, Team 1425
Error Code Zero

Why Use Pneumatics ?

Powerful, reliable, durable
Applying constant force
Linear motion

Typical Applications
Grabbers
and Arms

Typical Applications
Appendages
and brakes

Typical Applications
Shifting

What will it cost you?

Weight
Battery power
Space on the robot
Logistics to get the right parts

Pneumatic System
Compressor

Regulators and gauges

Air Tanks

Regulator
Pressure Gauge,
pressure switch,
release valve

Solenoid
valves

Solenoid

Actuators

Compressor
New model in 2011 lighter, less air
Earlier model also legal (probably)
Mount with rubber mounts to solid
surface
Power with Spike (replace fuse with 20A
circuit interrupter)

Safety Relief Valve

Releases at 120 psi prevents overpressure condition. Adjust it!
Must be placed on high-pressure side
(prior to regulator)
Must mount on compressor

Air Tanks
Reservoir for pressurized air
May use more than one
Typically used on high-pressure side

Gauges and Regulators

Norgren regulator mandatory, regulates
high pressure side down to 60 psi
Must have gauge on high pressure side,
and on low-pressure side
Look for the arrow on regulator!

Pressure switch
Switch opens around 115 psi, closes at
95 in theory. You cant adjust it.
Must be connected to digital input on
digital sidecar NOT in series with
power

Release Valve
Releases air from the system
Must be in an obvious place

Solenoid Valves
Driven by pneumatic bumper on cRIO
Available in single- and double-action
Use 12v Valves

Tubing
Must have clear pressure marking
Typically 0.25 OD
Always cut with tubing cutter, square
end
Freelin-Wade.com

Polyurethane

Polyethylene

Coiled

Actuators
Typical device is a linear ram
Available in many sizes

Length (throw)
Diameter (bore)
Mounting configurations

3 cylinders are available at no cost but

you must order them

Flow control

Flow control valves

Mount at air inlet on actuators or in-line
Control speed of action, not force

Fittings

www.automationdirect.com

Helpful Hints

Tradeoffs
Big cylinders use more air (stroke and
bore)
Frequent use of air during match can
outrun your compressor

If your air use is limited, you can

consider charging tanks in the pit, and
not mounting compressor
Save weight, cost and battery power

Pneumatics
Commandments
Thou shalt

Not tolerate air leaks.

Not cut pneumatic tubing with anything other than
a pneumatics tubing cutter.
Not use a actuator bigger than you need.
Tape metal fittings up to but not including the last
thread.
Optimize air storage capacity.

Summary

Well-suited for:
Fast movement
Two-position mechanisms
Creating substantial force
Sustained Holding

Not so good for

Precision position control
Sustained movement

Great resources

FIRST website
Pneumatics Manual
Rules from 2012

http://team358.org/files/pneumatic/