1. Dale Yocum, Head Mentor, Team 1540
The Flaming Chickens
dale@yocum.com
Based on presentation from
Tim Bennington-Davis, Team 1425
Error Code Zero

2. Why Use Pneumatics ?
Powerful, reliable, durable
 Applying constant force
 Linear motion


3. Typical Applications
Grabbers
and Arms

4. Typical Applications
Appendages
and brakes

5. Typical Applications
Shifting

6. What will it cost you?
Weight
 Battery power
 Space on the robot
 Logistics to get the right parts


7. Pneumatic System
Compressor
Regulators and gauges
Air Tanks
Regulator
Pressure Gauge,
pressure switch,
release valve
Solenoid
valves
Solenoid
Actuators

8. 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)


9. Safety Relief Valve
Releases at 125 psi – prevents overpressure condition. Adjust it!
 Must be placed on high-pressure side
(prior to regulator)
 Must mount on compressor


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

11. 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!


12. 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


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

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

15. Tubing
Must have clear pressure marking
 Typically 0.25” OD
 Always cut with tubing cutter, square
end
 Freelin-Wade.com

Polyurethane
Polyethylene
Coiled

16. 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

17. Flow control

Flow control valves
 Mount at air inlet on actuators or in-line
 Control speed of action, not force

18. Fittings
www.automationdirect.com

19. Helpful Hints

20. 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 compressor
 Save weight, cost and battery power

21. 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.


22. Summary

Well-suited for:
 Fast movement
 Two-position mechanisms
 Creating substantial force
 Sustained Holding

Not so good for
 Precision position control
 Sustained movement

23. Great resources

FIRST website
 FIRST Pneumatics Manual
 Rules from 2013

http://team358.org/files/pneumatic/

http://www.pneumaticsonline.com/Calc2.as
p