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.
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 30 cm dash
- Stepping up a 1 cm curb
- Crossing a chasm
A short report on this project is required by 1.30pm on March 8th.
20% (groups of 3)
Reverse Engineer a commercial mechatronics product and identify the
design and manufacturing methods used in the electrical and mechanical
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.
(groups of 4)
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