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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: 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 hours Please 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

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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 Schedule http://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, …)

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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 byte EEPROM

5 volt Regulator

Interpreter Chip

PIC16C57 w/ 26 bytes RAM

20 MHz Resonator

Serial Interface

I/O Pins 0-7

I/O Pins 8-15

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 1.5A Regulator 9 volt Battery

Connector

USB Interface

To PC

BASIC Stamp II Microcontroller

Socket

Circuit Prototyping

Area

Digital I/O

Connector

Wall Transformer Connection

Reset Button

5v Power Supply

Connection

RC Servo Connections

BOE Breadboard

(5) pin groups connected

connections: +5v (Vdd) &

Ground (Vss)

Application Kits

BoeBot

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Board of Education

Demonstration Let’s Make

Flashing Lights

Design Flashing Lights

Vdd

P1 P0 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 LED b)  P0 and P1

- go to ground - have zero input impedance

R = V I =5v0.010A

= 500! " 470!

Vdd

P1 P0

R R

Create Flashing Lights Hardware

connection to +5v (Vdd)

Note Polarity Of 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!

Flashing Lights Solution

•  Circuit Hardware Plus

•  Control Software

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Tonight at 7:30pm MSU vs. Youngstown State