an introduction to the process of designing and building a champion robot for the first robotics...

An Introduction to the Processof Designing and Building a Champion Robot for the FIRST Robotics Competition

LI-FIRST 2002...

“Building Your Robot”

Sponsored by SBPLI-LI FIRST

Prepared by Festo and the Hauppauge High School “Titans”Robotics Team #358

2© Copyright 2001, Festo Corporation

Objectives

To provide an overview of the basic steps involved in building a robot and to provide insights into making it happen within the short six-week time frame allotted by FIRST.


Dean Kamen: Motivating Leadership Role Model

Dean Kamen Leadership style...

Objective: Inspire and Motivate!

Approach: Calm, thoughtful, smart…

Style: Engineer’s casual

Worn construction boots

Faded Jeans

Flannel shirt with large breast pocket for pen holder


General Principles for Project Success

Start with the end in mind

Have a plan

Balance expectations with capabilities

First things first

Encourage and motivate

Challenge and reward

Delegate and assist

Emphasize teamwork, spirit

Build unique team image

and identity

Have fun


Primary Steps in Building a Robot

1. Understand the rules for scoring points

2. Brainstorm possible strategies

3. Visualize/sketch basic robotic functions4. Designate sub-teams responsible for main systems and set timelines

5. Review / inventory parts kits and learn rules for purchasing fabricating parts.

6. Design solutions for each function

7. Build prototype robot

8. Program prototype robot

9. Test prototype

10. Make necessary design changes

11. Practice-Practice-Practice


Understand the Rules for Scoring Points

Before you get started designing your robot, you must first understand the rules of the game for scoring points.

Once you understand the rules you can start thinking about your robot strategy.


Brainstorm various strategies

Your robot strategy should focus on a design which optimizes your chances of scoring points and is within the capabilities of your team, its resources, and the limited time allotted.

No time for “Rube Goldbergs”


Visualize and sketch basic robotic functions needed to implement best strategy

Is the design realistic?

Can you build it?

Rube Goldberg?


Example task:

To score points...

Place ball on top of goal:

Swivel arm with pneumatically operated gripper arms for grasping and placing game balls on or in goal.

Developing Strategy: Competition Tasks for FIRST 2001 Competition


Example task:

To score points...

Balance two goals on the ramp.



Example task:

To score points...

Place balls in trough



Devise a robot strategy

to achieve the game objective(s)

by balancing key basic factors of:

simplicity speed power response agilitycost time constraints.

Developing Strategy: Basic design criteria for your robot strategy

Example task: To score points… Balance robot on bar


Some examples of Team Robots from FIRST 2001 Competition

Example task:

Loading balls on goal using pneumatic gripper arms and balancing loaded goal on ramp.


Robots from FIRST 2001 Competition

Example task:

Wire-loop gripper designed to grasp and lift the ball.



Example:

Shovel scoop solution.



Example task:

Claw arm designed to grasp and hold game balls



Example task:

Caged chute solution for placing game balls in trough.


Designate sub-teams responsible formain systems, set project timelines

Who’s in charge?

Who’s gonna make it happen?

Designate sub-team leaders who will be responsible for coordinating the construction of each main robot system and its functions.

Set project timelines and monitor progress continuously.


Review/inventory parts kits and learn rulesfor purchasing and fabricating parts.

Designate someone to take an inventory of parts in the kits and to maintain the list until project is finished.

Learn rules for purchasing and fabricating parts.

Keep track of any purchased parts and materials and add to inventory list.

Include weights where possible.


Determine and Obtain Needed Tools, Supplies and Resources

Dog (to run errands)

Cat (to get rid of dog)

Pizza

Hedge clippers (wire cutters)

Chain saw (hack saw)

Sledge hammer

Railroad spikes

Garden hose (tubing)

Old tires

Window motor

Abacus

Excedrin

Key to workshop/ machinetools


Secure outside resources as necessary

For some aspects of the robot building process you’ll need outside assistance and resources.

Try to identify these needs early and establish the relationships before the January “FIRST Kick-off so they’re available when needed.


Design solutions for each main subsystem

Main sub-systems:

Drive train

Chassis

Superstructure

Robot arm / manipulator

Gripper mechanism


Build and program your prototype robot

Get started right away with building known robot system elements. Project tasks should be coordinated in parallel through teamwork.


Always Observe Workshop Safety Principles

When working in the shop always use goggles when using tools and equipment.

Keep the work area clean and neat and your tools organized.


Assemble the chassis and body structure

Work along with the kids and let them do as much as they can.


Layout the electrical components

Make clean connections, neat wiring and labeling, and leave room for easy troubleshooting.


Optimize power and speed through gear reduction

This may look complicated, but your team can get really motivated when they learn how to design and build a mechanism like this.

Fido monitors progress


Drive Train

Here we used eight wheels with scored rubber surfaces to gain better traction.


Manipulator arm mechanism

Motor-driven chain drive solution for extending and retracting the robot arms.


Pneumatic Gripper Solution

Pneumatics is excellent for providing the gripper functions on your robot.

Here, two pneumatic cylinders open and close the gripper arms at the touch of a button on the Innovation controller.

Can you think of ways to use just one cylinder and achieve the same opening/closing effect?

Would the force requirements be met?


8. Test prototype

Test prototype and ‘tweek’ program and mechanics as needed .

Ideally, you should try to have your prototype robot ready for testing and de-bugging at the end of the fourth week.

Avoid major redesigns unless unavoidable.

(i.e. if it doesn’t work)


9. Make necessary design changes

Make necessary design changes before the event to avoid last-minute ‘fixes’ in the “pit’.


Don’t forget the Dolly...

You’ll have to move your robot around quickly between the pit area and the playing field during the competition. For this you’ll want to build a mobile dolly with swivel wheels on one end.

This one has a built-in tool compartment which comes in handy. It’s also a good place to advertise your team name, number and logo.


Build your Crate

Leave Space for Tools and Dolly too.


10. Practice-Practice-Practice

Practice-Practice-Practice


General Principles for Project Success

Start with the end in mind

Have a plan

Balance expectations with capabilities

First things first

Encourage and motivate

Challenge and reward

Delegate and assist

Emphasize teamwork, spirit

Build unique team image

and identity

Have fun


Good Luck in 2002 to our FIRST Robotics Colleagues!

an introduction to the process of designing and building a champion robot for the first robotics...

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