pneumatics
Pneumatics
In essence, pneumatics uses pressurized air to create force for mechanic work. The hardware and circuit can be lighter, simpler to design, and more durable than using motors, gears, etc.
Pneumatics Control Module
The PCM is used to control the compressor, solenoids, and pressure switch. There are ports labelled specifically for "PRESSURE SW" and "COMPRESSOR OUT". The PCM supports 12V and 24V solenoids-- you must manually adjust the jumper in the VSOL slot to have 12 or 24V ports. The PCM is connected to the PDP by the two Vin connectors and signal is recieved through CAN.
Compressor
The compressor compresses the air to create more pressure. The compressor we use goes up to 120 PSI (pounds per square inch) and then the relief valve will automatically open if 120 is exceeded. The compressor generates a lot of heat and vibration. Make sure the compressor doesn't touch other components nor do you touch it. It is often very hot and creates a lot of vibration.
Pressure Switch
The pressure switch, connected to the PCM, helps control the compressor. These switches are closed until the robot exceeds 115 PSI and then reopens at 95 psi. The pressure switch stops the compressor if it exceeds a certain psi.
Air Tank
The air tank contains the compressed air generated by the compressor. It can only withstand 125 psi. It is also plastic-- not made for pressure or ruptures. You need to protect and mount the air tank as well.
Pressure Relief Valve
The pressure relief valve is a safety measure to ensure that the psi is under 120. This is connected to the compressor
Regulator
A regulator is another relieving device that limits the working psi to 60.
Solenoid
Solenoids are used to direct the flow of air to hardware in the circuit. There are ports on the PCM dedicated to the solenoids-- both double and single.
Gauge
The gauge measures the psi of the air running through the system. There should be two gauges, one displaying the working pressure and another one displaying the compressed air. The working pressure should not exceed 60 PSI for safety purposes.
Cylinder
The cylinders are the components that conduct the mechanical work, replacing electrically powered motors and gears. The cylinder functions with a piston within the cylinder itself and requires air to enter the cylinder.
Tubing
Tubing must be done carefully to prevent air leakages. When cutting tubing, make sure it is a clean straight cut to prevent leakage. Additionally, all parker fittings should be sealed with teflon tape on the threads to prevent air leakage.