This document provides an overview of pneumatic systems for FIRST robots, including key components in the 2010 kit of parts, basic pneumatic principles, calculations for determining cylinder force, examples of typical pneumatic applications, and tips for design and safety. It covers topics such as air compressors, tanks, regulators, solenoid valves, cylinder sizing, energy usage calculations, gripper and braking system examples, and considerations around the pros and cons of pneumatics.

1. Pneumatics for FIRST Robots FIRSTFare 2010 Craig Boezwinkle Mechanical Engineer – Western Integrated Technologies Team 2811 Mentor (Skyview HS, Vancouver WA)

15. Energy Usage Example Energy Storage Energy Consumption Load Credit: Raul Olivera Storage Consumption PEUs P V P V PEUs Total PEUs 2400.0 120.0 20.0 60.0 10.0 600.0 3000.0 1800.0 90.0 20.0 60.0 10.0 600.0 2400.0 1200.0 60.0 20.0 60.0 10.0 600.0 1800.0 800.0 40.0 20.0 40.0 10.0 400.0 1200.0 533.3 26.7 20.0 26.7 10.0 266.7 800.0 355.6 17.8 20.0 17.8 10.0 177.8 533.3

20. Example: Linear Pneumatic Gripper NOTE: The solenoid valve is installed close to the cylinder. This minimizes wasted energy.

21. Example: Linear Pneumatic Gripper

22. Example: 1-axis and 2-axis Grippers

24. Winch-Wound Kicker, Pneumatic Release

25. Pneumatic Kicker NOTE: This is a large bore, long stroke cylinder. Kick frequency is limited by compressor output. 1-1/2” bore x 12” stroke = 22 in 3 @ 60 psi that equates to ~1300 PEUs @110 PEU/s recharge rate, that is only 1 kick every 12 seconds!