Transcript Lecture_01_Intro_Fal.. - Michigan State University

ME456:
Mechatronics
Prof. Clark J. Radcliffe
Mechanical Engineering
Michigan State University
http://www.egr.msu.edu/classes/me456/radcliff
Prof. Clark Radcliffe
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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
Tuesday:
Wednesday:
Thursday:
Friday:
9:10am -10:10am
9:10am -10:10am
2:00pm - 4:00pm
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
• www.egr.msu.edu/classes/me456/radcliff
– Download a check-off sheet
• What’s a Microcontroller? v3.0
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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
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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
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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
Regulator
2k byte
EEPROM
I/O Pins
8-15
20 MHz
Resonator
Interpreter
Chip
PIC16C57
w/ 26 bytes RAM
Serial
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
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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
9 volt Battery
Connector
Wall
Transformer
Connection
5 volt 1.5A
Regulator
RC Servo
Connections
5v Power
Supply
Connection
USB
Interface
To PC
Circuit
Prototyping
Area
BASIC Stamp II
Microcontroller
Socket
Reset
Button
Digital
I/O
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
Vdd
R
P0
R
P1
Assume:
a) no voltage drop across LED
b) P0 and P1
- go to ground
- have zero input impedance
R = V I = 5v 0.010A
= 500W » 470W
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
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left_led
con
0
right_led
con 1
'right LED drive pin
blink
con
'blink time (msec)
100
'left LED drive pin
'-------------------------------------------
'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 8:00pm
MSU vs. Boise State