1. An Introduction to the Process of 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. 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.

3. 3 © Copyright 2001, Festo Corporation 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

4. 4 © Copyright 2001, Festo Corporation 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

5. 5 © Copyright 2001, Festo Corporation Primary Steps in Building a Robot 1. Understand the rules for scoring points 2. Brainstorm possible strategies 3. Visualize/sketch basic robotic functions 4. 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

6. 6 © Copyright 2001, Festo Corporation 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.

7. 7 © Copyright 2001, Festo Corporation 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”

8. 8 © Copyright 2001, Festo Corporation Visualize and sketch basic robotic functions needed to implement best strategy Is the design realistic? Can you build it? Rube Goldberg?

9. 9 © Copyright 2001, Festo Corporation 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

10. 10 © Copyright 2001, Festo Corporation Example task: To score points... Balance two goals on the ramp. Developing Strategy: Competition Tasks for FIRST 2001 Competition

11. 11 © Copyright 2001, Festo Corporation Example task: To score points... Place balls in trough Developing Strategy: Competition Tasks for FIRST 2000 Competition

12. 12 © Copyright 2001, Festo Corporation Devise a robot strategy to achieve the game objective(s) by balancing key basic factors of: simplicity speed power response agility cost time constraints. Developing Strategy: Basic design criteria for your robot strategy Example task: To score points… Balance robot on bar

13. 13 © Copyright 2001, Festo Corporation 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.

14. 14 © Copyright 2001, Festo Corporation Robots from FIRST 2001 Competition Example task: Wire-loop gripper designed to grasp and lift the ball.

15. 15 © Copyright 2001, Festo Corporation Robots from FIRST 2001 Competition Example: Shovel scoop solution.

16. 16 © Copyright 2001, Festo Corporation Robots from FIRST 2000 Competition Example task: Claw arm designed to grasp and hold game balls

17. 17 © Copyright 2001, Festo Corporation Robots from FIRST 2000 Competition Example task: Caged chute solution for placing game balls in trough.

18. 18 © Copyright 2001, Festo Corporation Designate sub-teams responsible for main 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.

19. 19 © Copyright 2001, Festo Corporation Review/inventory parts kits and learn rules for 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.

20. 20 © Copyright 2001, Festo Corporation 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

21. 21 © Copyright 2001, Festo Corporation 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.

22. 22 © Copyright 2001, Festo Corporation Design solutions for each main subsystem Main sub-systems: Drive train Chassis Superstructure Robot arm / manipulator Gripper mechanism

23. 23 © Copyright 2001, Festo Corporation 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.

24. 24 © Copyright 2001, Festo Corporation 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.

25. 25 © Copyright 2001, Festo Corporation Assemble the chassis and body structure Work along with the kids and let them do as much as they can.

26. 26 © Copyright 2001, Festo Corporation Layout the electrical components Make clean connections, neat wiring and labeling, and leave room for easy troubleshooting.

27. 27 © Copyright 2001, Festo Corporation 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

28. 28 © Copyright 2001, Festo Corporation Drive Train Here we used eight wheels with scored rubber surfaces to gain better traction.

29. 29 © Copyright 2001, Festo Corporation Manipulator arm mechanism Motor-driven chain drive solution for extending and retracting the robot arms.

30. 30 © Copyright 2001, Festo Corporation 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?

31. 31 © Copyright 2001, Festo Corporation 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)

32. 32 © Copyright 2001, Festo Corporation 9. Make necessary design changes Make necessary design changes before the event to avoid last-minute ‘fixes’ in the “pit’.

33. 33 © Copyright 2001, Festo Corporation 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.

34. 34 © Copyright 2001, Festo Corporation Build your Crate Leave Space for Tools and Dolly too.

35. 35 © Copyright 2001, Festo Corporation 10. Practice-Practice-Practice Practice-Practice-Practice

36. 36 © Copyright 2001, Festo Corporation 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

37. 37 © Copyright 2001, Festo Corporation Good Luck in 2002 to our FIRST Robotics Colleagues!