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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: [email protected]
• 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: [email protected]
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