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Electrical Parts & Tools

This guide provides insights into essential electrical connections in robotics, focusing on crimping and soldering techniques. Crimping is an efficient method to connect wires to components like speed controllers, while soldering creates stronger, more reliable connections by melting solder between metals. It also outlines the functions of various components like the Robot Controller, Operator Interface, speed controllers, limit switches, and potentiometers, explaining how they interact to control movement and transmit data in robotic systems.

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Electrical Parts & Tools

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  1. Electrical Parts & Tools By: Christine Chen Team 115

  2. What is Crimping? • Crimping a wire simply connects a wire to another or something else like a speed controller to pass on electrical current Crimping Tool

  3. Crimps male female To connect 2 wires, crimp a female crimp on the end of one wire and the male crimp on the end of the other wire.

  4. Solder & Iron • Soldering is joining metals by melting a metal with a low melting point (solder) and join metals (wires) • Creates an electrical and mechanical connection • Soldering Iron melts the solder Solder Soldering Iron

  5. Crimping Faster/easier Better for use with larger wire  takes too long too heat wire up to melt solder Quick fix Soldering More reliable when done properly More rigid Stronger than a crimp Preferable Better connection Lower resistance Easier to determine whether connection is good or bad Crimping v. Soldering

  6. Robot Controller (RC) PWM output (connects to speed controllers) • Holds the code for the drivetrain, arm / manipulator, and autonomous • Outputs speed that is received via radio/tether to speed controllers to motors • “Brain” of the robot • Tether port connects RC to OI directly • Program port connects the RC to laptop/computer to download new code Programport Tether port

  7. Operator Interface (OI) • Transmit data (i.e. speed from joysticks) to RC via radio/tether • Attaches to external switches (i.e. kill switch, push button) • Ports connect to joysticks and switches • Competition port connects to switches that decide the mode (disabled & autonomous) Operator Interface reset Robot controller reset

  8. Analog Goes from 0 to 254 Values generally used for speed for motors 0 full speed backward 254 full speed forward 127 neutral Also used for potentiometers Digital Values are 0 and 1 Used for limit switches or push buttons 0 for closed and 1 for open or vice versa Depends on how you wire the switch and decide to program Analog and Digital

  9. Speed Controller • Regulates speed for the motors • Transmits speed to motor from RC

  10. Spikes • Connects directly to the RC rather than to the Breaker Panel • Used to control the pneumatic cylinders • Uses a 12V Battery

  11. Tether/Programming Cable • Programming cable connects RC to laptop for code download • Tether connects RC (Robot Controller) to IO (Operator Interface)rather than use of radio

  12. Joystick • Used to drive the robot and move the arm/manipulator • Transmits speed from 0 to 254 with 127 being neutral • Therefore 0 is backwards and 254 forwards full speed • Transmits speed to OI (Operator Interface)

  13. Limit Switches • Used as a electrical tool in determining when to stop and start the motion of an arm/manipulator • When stop a heavy manipulator like an elevator, a mechanical stop is needed as well to avoid cracking the plastic covering on the switch • Transmit data digitally (0 & 1 for open & closed or vice versa)

  14. Potentiometers • The top of the potentiometer moves and moves also from the values 0 to 254 • Sends feedback telling the program how far the potentiometer has been turn

  15. Electrical Tape • Prevents the electrical current from hurting people on battery terminals or open wire • Primarily used to insulate bare wires or ends

  16. PWM • Stands for pulse width modulator • Used to transmit data to speed controllers • Red for power • Black for ground • White/Yellow for service PWM Crimps

  17. Breaker Panel • Uses automatic reset fuses to control amount of voltage a motor is drawing out from the main battery • 20/30/40 amp fuses for different types of motors • When the fuse pops up, it means that the motor is drawing too much current Fuse

  18. Backup Battery • Takes over for the main battery for a few seconds if the average voltage coming out of the main battery dips below a certain point (generally around 11 volts)

  19. Servos • Rotates from 0 to 254 • Once given position, stays there and cannot be moved unless “told” by the code • A very small motor

  20. Main Battery • 12 volt battery • Main battery that connects to breaker panel and circuit breaker

  21. Main Circuit Breaker • Connected to the red wire (power) of the battery • When turned off, all power is cut off and robot turns off • Easy way to turn the robot off • Needs to be place in an accessible but not too accessible place so that it can be pushed but not during competition accidentally • Connects (red) to the breaker panel • Very hard to trip this breaker

  22. Zip ties • Used to keep wiring neat and out of the way from moving parts to avoid the wires from getting cut

  23. Label Maker • Labeling wire makes it easy to identify where it’s from / going to (ex. from RC to switch)

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