ME456:Mechatronics

Prof. Clark J. Radcliffe

Mechanical Engineering

Michigan State University

http://www.egr.msu.edu/classes/me456/radcliff

Prof. Clark Radcliffe

• Office: 2445 Engineering

• Phone: 355-5198

• Email: radcliff@egr.msu.edu

• Web: http://www.egr.msu.edu/classes/me456/radcliff/

• Office Hours: WF 11:10-12:00 (after class..)

– OR by appointment

Joonho Lee, TA

email: leejoon8@egr.msu.edu

Office Hours: In 2200EB Lab

It is our intent to provide lots of office hoursPlease use them…

Tuesday: 9:10am -10:10am Wednesday: 9:10am -10:10am Thursday: 2:00pm - 4:00pm Friday: 9:10am -10:10am

Do you have the knack?

What’s Mechatronics?

The integrated design of products and processes that include mechanical and electrical components under intelligent control.  The underlying products are physical in nature (electromechanical, hydraulic, magnetic, etc).  There are sensors and actuators for interfacing with them.   There is "intelligence" through imbedded computing capability.  All these processes are highly integrated into sophisticated products and processes.

Reference: National Science Foundation

Mechatronics

• The study of systems with– Mechanical Engineering Components– Electronic Sensors and Electrical Actuators– Computer Controls

• Each necessary to successful performance of the whole

Syllabus

• What’s a microcontroller– The “BASIC Stamp” microcontroller– Small Design Project (individual)

• Robotics– A typical mechanical interface

• BIG Design Project (Group)– Learn by doing

Grading

• Virtual Laboratory 30%– Written + Check-off

• Biweekly Quiz 30%– 5 minutes each on Lab

• 1st Design Project 15%– After WAM book

• Final Project 25% 100%

Course Operation

• Two “lectures” per week (2 hr)– Come prepared to ask questions– Demonstrations of lab material

• Two lab exercises per week (6 hr)– Each has write-up & check-off– Use 2200EB terminals any time– TA scheduled in lab

1st Assignment

• Find the Webpage• www.egr.msu.edu/classes/me456/radcliff

– Download a check-off sheet

• What’s a Microcontroller? v3.0– Do Chapter 1 (everything you can)– Attach all code to the check-off sheet– Demo action to a classmate– Turn in next Friday

Homework Schedulehttp://www.egr.msu.edu/classes/me456/radcliff/ME456_Schedule.html

ME456: Mechatronics Fall 2012 C. Radcliffe(Assignments Due 1 week after assigned)

Computers

• Typical Computers– CPU– Monitor– Keyboard & Mouse– High Speed Random Access Memory (RAM)– Long Term Memory (HDD, Tape, CD, …)– Other peripheral devices (modem, printers, …)

Microcontrollers

• All around us without human interfaces– Cars (as many as 20-30 today)– Toys – Phones– Appliances (your microwave and VCR)

• Small for control of machines

• For connection to machines not people

• Inexpensive ($2.00 - $5.00 or less)

BASIC Stamp II

• An integrated microcontroller system• Programmed in BASIC, Postage Stamp Size

2k byteEEPROM

5 voltRegulator

InterpreterChip

PIC16C57w/ 26 bytes RAM

20 MHzResonator

SerialInterface

I/O Pins0-7

I/O Pins8-15

BASIC Stamp II

• Specifications– 4000 BASIC Statements per second– 16 Digital I/O pins

• Source 20 mA, Sink 25 mA

– Special purpose control routines– 5v power supply (50 mA)– Low power (8 mA, sleep at 0.1mA)– RS232-USB serial programming interface– 2k bytes program token storage

Board of Education

Allows easy prototyping with BSII

5 volt 1.5ARegulator9 volt Battery

Connector

USBInterface

To PC

BASIC Stamp IIMicrocontroller

Socket

CircuitPrototyping

Area

DigitalI/O

Connector

WallTransformerConnection

ResetButton

5v PowerSupply

Connection

RC Servo Connections

BOE Breadboard

(5) pin groups connected

connections:+5v (Vdd) &Ground (Vss)

Application Kits

BoeBot

Board of Education

Demonstration

LetLet’’s Makes Make

Flashing Lights Flashing Lights

Design Flashing Lights

Vdd

P1P0 Digital I/O pins (0 or 5 volts)

Current Limiting Resistors

Light Emitting Diodes (LED)

5 volt power

Circuit Model and Analysis

• How big should resistors be?– Limit current to 10 mA

Assume:a) no voltage drop across LEDb) P0 and P1

- go to ground- have zero input

impedance

Vdd

P1P0

Create Flashing Lights Hardware

connectionto +5v (Vdd)

Note PolarityOf LED’s

(2) 470 Ohm Resistors

(yellow, violet, brown, …)

Create Flashing Lights Software'Program Demo Listing written by C. Radcliffe

'Define Variables and Constants'-------------------------------------------

left_led con 0 'left LED drive pin

right_led con 1 'right LED drive pin

blink con 100 'blink time (msec)'-------------------------------------------

'Main Program'-------------------------------------------

flash: 'Start of Program

high left_led 'turns left led off

low right_led 'turns right led on

pause blink 'wait for <blink> ms

low left_led ‘turns left led on

high right_led 'turns right led off

pause blink 'wait for <blink> ms

goto flash ‘repeat the blink

'Program Demo Listing written by C. Radcliffe

'Define Variables and Constants'-------------------------------------------

left_led con 0 'left LED drive pin

right_led con 1 'right LED drive pin

blink con 100 'blink time (msec)'-------------------------------------------

'Main Program'-------------------------------------------

flash: 'Start of Program

high left_led 'turns left led off

low right_led 'turns right led on

pause blink 'wait for <blink> ms

low left_led ‘turns left led on

high right_led 'turns right led off

pause blink 'wait for <blink> ms

goto flash ‘repeat the blink

Flashing Lights Solution

• Circuit Hardware Plus

• Control Software

Tonight at 8:00pmMSU vs. Boise State