Mechatronics I

Spring 1995

The exact content of this course may be adjusted during the semester progresses to ensure that the class understands the necessary principles embodied in the two design projects. An updated syllabus will be provided as necessary.

William Harwin

Week 1, February 8

A definition of mechatronics
Introduction to the Walking wheelchair events
o Right turn clyde
o The great step up
o Crossing the chasm
o The 30 cm dash
Introduction to the kit of parts

Week 2, February 15

Architecture of the 440 Micro Controller
Legged Locomotion - 4 feet/6 feet - Tripod gaits
Overview of the servo controllers and interface

Week 3, February 22

Design Theme
Revision of opamps.
Basic Engineering Design

Week 4, March 1,

More electronics,
Introduction to the parts and mechanical prototype boards.

The great walking chair race

Week 5, March 8

Introduction to reverse engineering.

Product dissection

Walking wheelchair reports due

Week 6, March 15

Introduction to the design goals of the 3 degree-of-freedom haptic display
C++ programming, accessing the serial port, the black box protocols. (R. Glass) Safe Software design
Theory of D.C. electric motors

Product dissection reports due

Week 7, March 22

The kinematics, dynamics and Jacobians of two link robots.
Design and analysis of a current amplifier.

Spring Break 24 March - 3rd April

Week 8, 5 April

Real-time operating systems
Revision of control systems.
Safety in Design

Week 9, 12 April

BRIEF progress reports on haptic and force reflecting displays

Week 10 -12, 19 April-3rd May

2 Mechatronics Papers per week

Week 13, 10 May

Demonstrations of haptic displays in virtual and real environments

Week 14, 17 May

Final reports due

Exam week, May 19 -- May 26

Project 1 - Walking wheelchairs

Design and Construct a multi-legged walking wheelchair capable of competing in the great walking chair race. The walking wheel chair must be capable of

A short report on this project is required by 1.30pm on March 8th.

20% (groups of 3)

Product dissection

Reverse Engineer a commercial mechatronics product and identify the design and manufacturing methods used in the electrical and mechanical components.

15% (groups of 2)

Project 2 - Haptic and Force Reflecting displays

Design and build a haptic or force reflecting display capable of linking to a 386 computer. The display will be used in a virtual world to determine the shape of an objects within a 'black box'. A short presentation will be made to the course instructors in week 9. The projects will be demonstrated in week 13. Project requires a written report to be submitted by 5pm on the 17th of May.

50% (groups of 4)

Student Lectures

One 15 minute technical lecture. Either a review of a mechatronics paper, an overview of a topic of interest or technical material related to all projects


Mechatronic Design (CISC667) 1995

William Harwin