mechatron ii - teipir.grislab.teipir.gr/microdidactix/downloads/assembly_en.pdf · mechatron ii...

TECHNOLOGICAL INSTITUTE OF PIRAEUS Petrou Ralli & Thivon 250, 122 44 Athens, Greece, (30)210 5381427, fax 2105451128, [email protected] Professor G. E. Chamilothoris, Director TEI PIRAEUS

MECHATRON II

1. Unpacking

The Mechatron II (M2) platform is delivered as parts in a box. Each box contains parts for one M2 unit. Open the box and check the contents against the packing list which is stapled on the package of the serial cable. In case the contents of the box fail to match the packing list, please notify ISL at the coordinates below:

Intelligent Systems Laboratory

attn. Prof. George Chamilothoris

TEI Piraeus, Dpt. of Automation

P. Ralli & Thivon 250

12244 Athens, Greece

tel. (30)2105381427, fax (30)2105451128

[email protected]

MECHATRON II Assembly Instructions ISL

This is the packing list for the electrical and mechanical parts that constitute the M2 platform.

M2 Electromechanical Parts List

No Item Quantity Details

0 Packing list 1 A4 sheet of paper

1 Serial cable, male to female 1 length 1.2 m, DB9 connectors

2 Electronics board 1 green PCB, marked "ISL"

3 Wheel with tire and flange 2 white plastic, 70 mm dia.

4 Direct-current gearmotor 2 marked "Futaba" or "Hitec"

5a Base plate with rubber sleeve 1 perforated aluminum sheet

5b Solderless breadboard 1 permanently attached to #5a

6 Side plate 2 perforated aluminum sheet

7 Motor plate 2 perforated aluminum sheet

8 Front plate 1 perforated aluminum sheet

9 Caster wheel strut 1 perforated aluminum sheet

10 Caster wheel 1 steel ball, brass-coloured rim

11 Antenna for tether wire 1 steel wire, 0.8 mm dia.

12 Wheel screw 2 black, Philips head,

13 Body screw 25 steel, 3 mm, Philips head

14 Nut 25 steel, 3mm

15 Washer 25 steel, 3.5 mm internal dia.

16a Insulating spacer 4 plastic, self-locking

16b Spacer washer 4 plastic

To operate the M2 you will need two integrated circuits, listed below. These are included in a separate package, pinned on opposite sides of a piece of conductive foam.

M2 Integrated Circuits List

No Item Quantity Package

101 BX24 computer-on-a-chip 1 24-pin DIP chip, unmarked

102 L293 quad push-pull driver 1 14-pin DIP chip, SGS-Thomson

The Intelligent Systems Laboratory, TEI Piraeus, 2003 2


Fig.1 The M2 parts

2. Assembly

The following instructions help you to assemble the M2 in one (out of numerous) configuration, with the purpose to familiarize you with the parts and the assembly method. The M2 is an extremely flexible platform - its elements can be combined in a vast number of ways, in line with the needs and ideas of the experimenter.

Fig.2 Assembly tools

In the box, the parts are arranged in layers and separated by protective air-bubble or foam sheet. Open the box and remove the serial cable (part #1) and the electronics board (part #2); you will need these later on in the assembly. Select the two plastic wheels (part #3) and the DC gearmotors (part #4). Also reach the aluminum plates on the bottom of the box and select the two motor plates (part #7).



Fig.3 Parts for the drive sub-assembly

Insert a gearmotor in the shaped slot on the motor plate (see picture). Notice that the motor should stay on the side of the plate with the rib. The head of the motor with the drive shaft protrudes on the flat side of the plate.

Fig.4 Correct way to insert the gearmotor

With the gearmotor in place, the four holes on the plate should align with corresponding holes on the support struts of the gearmotor. Fasten the gearmotor on the plate using four screws (part #13) backed with washers (part #15) and nuts (part #14). Use a Philips screwdriver and a pair of tweezers or small metric key to tighten the screws.

Fig. 5 Attaching the gearmotor to the motor plate



Use four screws with nuts to attach the two motor plates, now equipped with gearmotors, on opposite sides of the base plate (part #5).

Drive shaft

Fig.6 Attaching the motor plates to the base plate

Notice the orientation of the plates which should have their shafts closer to the edge (as opposed to the middle) of the base plate. Use the perforated rib on the side of the plate to fix the motor plate. When properly installed, the base plate should "sit" over the motor plates which thus form the undercarriage of the M2. Fasten the side plates (part #7) next to the motor plates, on both sides of the base plate.

Fig. 7 Position of the side plate

Select the caster wheel (part #10) and place it on the support strut (part #9) so that the steel ball faces outwards, away from the strut. Use three screws to attach the rim of the caster wheel to the endplate on the strut.

Fig. 8 Caster wheel sub-assembly

Attach the caster wheel sub-assembly (caster wheel plus support strut) on the underside of the base plate (part #5) with two screws. Orient the assembly so that the strut is on the outer side of the base plate, halfway along the length of the short side of the base plate.



Fig. 1 Placement of the caster wheel sub-assembly

Also use two screws to attach the front plate (part #8) on the opposite edge of the base plate.

Fig. 10 Placement of the front plate

Use a screw with nut and washers on both sides to fasten the antenna wire (part #11) on the side of the M2. You can use any hole or slot on either of the perforated side plates.

Fig. 11 Attaching the spacers on the main electronics board

Locate the four holes on the main electronics board (part #2) and insert the self-locking end of the spacers (part #16a). Make sure the threaded end of each spacer aligns with the corresponding hole of the base plate. Sit the board on top of the base plate, push the spacer ends through the holes and secure each with a plastic washer (part #16a). Notice the orientation of the board which should have the switch assembly towards the outer edge of the base plate.



Fig. 12 Attaching the board on the base plate

Insert a wheel (part #3) on the shaft of each gear motor. Use the black Philips wheel screw (part #12) to fix the wheel on the drive shaft. Drive the screw in firmly but do not force it beyond its travel; this could damage the threads on the shaft.

Fig. 13 Fixing the wheel on the drive shaft

Now the M2 should be able to "stand" on its wheels.

Locate the two chips (parts #101 and #102) and insert them in the corresponding sockets. Drive each chip firmly all the way down to its final position, after making certain that each pin is aligned with a corresponding socket hole. Notice the orientation of chips: the notch on the L293D chip should align with the notch on the 14-pin socket and the Atmel mark on the BX24 chip should be positioned close to the 16-pin header and away from the switches.

Fig. 14 Orientation of the chips on the main electronics board


mechatron ii - teipir.grislab.teipir.gr/microdidactix/downloads/assembly_en.pdf · mechatron ii...

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