#  Final Robot Assembly 

 



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Due to to the constrained space inside the robot, and the cumbersome nature of pneumatic tubing, assembling the robot was a careful operation. After putting a few together, the team identified the easiest and most successful method, detailed below.

1. Insert tubing into channels in silicone body with about 5 inches of excess tubing to reach outside edge of silicone cast.  
      
       ![img_1968.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/srtdesigncomp/files/img_1968.jpg?itok=_9eMT7i3)
2. Connect tubing between manifold and valves on PCB. Connect battery leads on PCB.  
    Note the tube connections on the last three valves, corresponding to 5,6,7 in the code. A Y-splitter connects the output from Valve 6 to the inputs of Valves 5 and 7. The exhaust port on Valve 6 is plugged.  
      
       ![img_1976.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/srtdesigncomp/files/img_1976.jpg?itok=Bi5GJkrN)
3. Insert the two center acrylic rings into the silicone body and pull tubing out from center area.  
      
       ![img_1996.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/srtdesigncomp/files/img_1996.jpg?itok=jcrA6cXe)
4. Slide PCB and manifold together through the acrylic rings, avoiding tubing from channels.  
      
       ![img_1997.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/srtdesigncomp/files/img_1997.jpg?itok=LNyC6Wsv) 
    
     
    
       ![img_1998.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/srtdesigncomp/files/img_1998.jpg?itok=ak6Wabgr)
5. Connect the channel tubes to the valves using needle nose pliers.
6. Connect battery leads to battery on the ring with the battery and switch. Insert ring in silicone body.  
      
       ![img_2004.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/srtdesigncomp/files/img_2004.jpg?itok=SVNP4bYw)
7. Connect tube to manifold input on one end, and regulator output on other. Zip-tie both connections.  
      
       ![img_1987.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/srtdesigncomp/files/img_1987.jpg?itok=ACSdBKoF)
8. Connect CO2 cartridge to regulator, and push both through center acrylic rings into body of robot.
9. Insert last acrylic ring into silicone body.  
      
       ![img_2005.jpg](/sites/g/files/omnuum4601/files/styles/hwp_1_1__360x360_scale/public/srtdesigncomp/files/img_2005.jpg?itok=L0a33A62)