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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 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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