PNEUMATICS FOR BEGINNERS

Dale Yocum, Head Mentor, Team 1540The Flaming Chickens

dale@yocum.com

Based on presentation fromTim 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 SystemCompressor Air Tanks

Pressure Gauge, pressure switch, release valve

Regulators and gauges

Regulator

Solenoid

Actuators

Solenoid valves

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 breaker)

Safety Relief Valve Releases at 125 psi – prevents over-

pressure 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 can’t 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-lineControl speed of action, not force

Fittings

www.automationdirect.com

Helpful Hints

Tradeoffs Big cylinders use more air (stroke and bore) Big cylinders are slower. Don’t power them in both directions if you

don’t need to. 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 compressorSave weight, cost and battery power

Pneumatics CommandmentsThou 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 movementTwo-position mechanismsCreating substantial forceSustained Holding

Not so good forPrecision position controlSustained movement

Great resources

FIRST websiteFIRST Pneumatics ManualRules from 2013

http://team358.org/files/pneumatic/ http://www.pneumaticsonline.com/

Calc2.asp