Introduction to Basic Robotics

Parts/SystemsCass Lake Bena Robotics

DrivetrainsElectrical SystemOperator Interface

What We Will Cover

Drive Systems

Motors

Denso Window Motor

Fisher Price Motor

CIM Motor (Chiaphua)

Toughbox Transmission Gear Reducer Reduces speed of motor output Increases your output torque

Gearbox

Toughbox

Connect motors to wheels

Chains, Sprockets, Hubs

Use combinations of gearboxes, motors, and wheels to design a drive system.

Drive Systems

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

4 Wheel Drive

6 Wheel Drive

Mecanum Drive System

Holonomic Drive System

Electrical Diagram

Electrical Diagram

EnerSys NP 18-12

Only robot power source

Battery

Electrical Diagram

Main Breaker Power Switch All current runs through

this component

120 Amp Breaker

Electrical Diagram

Breaker Panel Power Board Distributes power to the rest of the robot

Power Distribution Board

Electrical Diagram

NI cRio The "brain" The "computer" Programmable microcontroller

CompactRIO

Electrical Diagram

Provides an easy interface to the cRIO digital module.

Outputs for PWM Digital Input/Output IFI Spike Relays

Digital Sidecar

Electrical Diagram

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

Electrical Diagram

AXIS M1011 or 206 Provides vision capabilities to robot Paired with algorithms donated by NI

Camera

Linksys WGA600N or WET610N Also called radio or gaming adapter lets the

cRIO communicate with the field and controls

Wireless Bridge

Electrical Diagram

Solid ON = Good Slow Blink = Disabled Fast Blink = No Communication

Signal Lamp

Also called a servo cable Most used signal cable

◦ PWM◦ Digital I/O◦ IFI Spike

PWM Cables

Operator Interface

Laptop computer Newest component Main part of the driver station Live feedback through customizable

dashboard

Classmate PC

Joysticks

Stop Button

Signal Flow