ME456:

Mechatronics
Prof. Clark J. Radcliffe
Mechanical Engineering
Michigan State University
[Link]
 Prof. Clark Radcliffe
• Office: 2445 Engineering
• Phone: 355-5198
• Email: radcliff@[Link]
• Web: [Link]
• Office Hours: WF 11:10-12:00 (after class..)
– OR by appointment
 Joonho Lee, TA
email: leejoon8@[Link]
Office Hours: In 2200EB Lab
Tuesday: 9:10am -10:10am
Wednesday: 9:10am -10:10am
Thursday: 2:00pm - 4:00pm
Friday: 9:10am -10:10am
It is our intent to provide lots of office hours
Please use them…
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
• [Link]/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
[Link]

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
5 volt I/O Pins
Regulator 8-15

2k byte
EEPROM 20 MHz
Resonator

Interpreter
Chip
PIC16C57
Serial
w/ 26 bytes RAM
Interface
I/O Pins
0-7
 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
Wall
Transformer 5 volt 1.5A
9 volt Battery Connection Regulator RC Servo
Connector Connections

5v Power
USB Supply
Interface Connection
To PC
Circuit
Prototyping
Area

BASIC Stamp II Digital

Reset
Microcontroller I/O
Button
Socket Connector
BOE Breadboard

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

(5) pin groups

connected
Application Kits
BoeBot
Board of Education

Demonstration

Let’s Make
Flashing Lights
Design Flashing Lights

Vdd  5 volt power

 Light Emitting Diodes (LED)

 Current Limiting Resistors

P0 P1  Digital I/O pins (0 or 5 volts)

 Circuit Model and Analysis
• How big should resistors be?
– Limit current to 10 mA
Assume:
Vdd a) no voltage drop across LED
b) P0 and P1
- go to ground
- have zero input
impedance

P0 P1
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
'Program Demo
Demo Listing
Listing written
written by
by C.
C. Radcliffe
Radcliffe
'Define
'Define Variables
Variables and
and Constants
Constants
'-------------------------------------------
'-------------------------------------------
left_led
left_led con
con 00 'left
'left LED
LED drive
drive pin
pin
right_led
right_led con
con 11 'right
'right LED
LED drive
drive pin
pin
blink
blink con
con 100
100 'blink
'blink time
time (msec)
(msec)
'-------------------------------------------
'-------------------------------------------
'Main
'Main Program
Program
'-------------------------------------------
'-------------------------------------------
flash:
flash: 'Start
'Start of
of Program
Program
high
high left_led
left_led 'turns
'turns left
left led
led off
off
low
low right_led
right_led 'turns
'turns right
right led
led on
on
pause
pause blink
blink 'wait
'wait for
for <blink>
<blink> ms
ms
low
low left_led
left_led ‘turns
‘turns left
left led
led on
on
high
high right_led
right_led 'turns
'turns right
right led
led off
off
pause
pause blink
blink 'wait
'wait for
for <blink>
<blink> ms
ms
goto
goto flash
flash ‘repeat
‘repeat the
the blink
blink
Flashing Lights Solution

• Circuit Hardware
Plus
• Control Software
Tonight at 8:00pm
MSU vs. Boise State