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The mechatronics design wiki provides reference material on the theory and applications of electronics, sensors, actuators, etc., for use in mechatronics-related research and projects. Practical applications often refer to equipment and supplies available in the [http://mechatronics.mech.northwestern.edu/ Northwestern Mechatronics Design Lab].
[[Image:mechlab.jpg|right|thumb|[http://mechatronics.mech.northwestern.edu/ Northwestern Mechatronics Design Lab]]]


The Northwestern University mechatronics design wiki provides reference material on the theory and applications of electronics, sensors, actuators, etc., for use in mechatronics-related research and projects. Practical applications often refer to equipment and supplies available in the [http://mechatronics.mech.northwestern.edu/ Northwestern Mechatronics Design Lab].


The mechatronics wiki was initiated by undergraduate Ben Stephens in 2006, under the supervision of Profs. Kevin Lynch and Michael Peshkin. Since then, many students have contributed content.

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(Here you can find the [[Old Index Page]] of the mechatronics wiki, as of May 2, 2009. That page is now obsolete, and new material should be indexed on the pages below. New pages may be indexed in multiple places.)


* [[Editing the mechatronics wiki]] (or visit [[The sandbox]] to practice your wiki skills)
__TOC__
* [[NU32|Home page of the NU32 PIC32 microcontroller development board and the book "Embedded Computing and Mechatronics with the PIC32 Microcontroller"]]

* '''Books and Accompanying Videos and Software'''

** [[Modern Robotics|"Modern Robotics: Mechanics, Planning, and Control," by Kevin M. Lynch and Frank C. Park]]

** [[NU32|"Embedded Computing and Mechatronics with the PIC32 Microcontroller," by Kevin Lynch, Nick Marchuk, and Matt Elwin]]

* '''Courses'''
<h3>Design Competition 2008</h3>
** [[DTC]]

** [[EDI Bootcamp]]
Wiki pages on sensors, actuators, programming, and microcontrollers: use pages below
** [[Engineering Analysis 3]]
<br><br>
** [[ME 333 Introduction to Mechatronics]]

*** [[ME 333 final projects]] (2010 and earlier)
<h3>Electronics for DC</h3>
* [http://www.mech.northwestern.edu/courses/433/Writeups/QuickStart/ Parts in the DC2008 quick start pack]
** [http://www.mech.northwestern.edu/courses/descriptions/433-advanced-mechatronics.html ME 433 Advanced Mechatronics]
** [[Northwestern Design Competition]]
* [[Using Solderless Breadboard]]
* [[Using LEDs & IREDs]]
** [[ME 449 Robotic Manipulation]]
* [[Using a laser]]
* [[Electronics basics]]
* [[Sensors]]
* [[Sensing optical tape|Infrared reflectivity]]
* [[Actuators]]
** Using phototransistors
* [[Communication]]
** Sensing optical tape
* Control computers and software
* [[Comparators | Comparators : the analog digital interface]]
**[[Robot Club]]
* [[Driving a DC Motor using PWM]]
**[[Medical Makers]]
* [http://www.robotroom.com/FaulhaberGearmotor.html Faulhaber MiniMotor SA gearmotor with encoder], as well as [http://hades.mech.northwestern.edu/wiki/index.php/Actuators_Available_in_the_Mechatronics_Lab#Faulhaber_1524E006S_motor_with_141:1_gearhead_and_HES164A_magnetic_quadrature_encoder the local wiki page]
**[[ASEE Robot Design Competition]]
* [[Adding a magnetic encoder to a GM3 Gearmotor]]
**[[nScope]]
** Using magnetic switches (Hall Effect)
** [[Microchip PICs]]
* [[Driving using a single MOSFET | Driving a DC motor using a single MOSFET]]
** [[PC/104 stacks and Matlab xPC]]
* [[High-current devices|Driving high-current devices: several options]]
** [[QNX]]
* [[Driving a Stepper Motor]]
* [[Driving an RC Servo]]
** [[Robot Operating System]]
* [[Accelerometers]]
** [[Processing]]
* [[Strain gauges]]
** [[Node.js]]
** [[Eagle]]
* [[Using the Basic Stamp Microcontroller|Basic Stamp Microcontroller]] <b>Not recommended for DC2008</b>
** [[KiCad]]
* [http://www.mech.northwestern.edu/courses/433/Writeups/Battery_NiMH/ NiMH rechargable batteries and chargers]
** [[C Compilers]]
<br>
* [[Tools in the lab and shop]] (software, hardware, supplies, etc.)

* [[Vendors and Useful Links]]
<h3>PIC 18F4520 prototyping board </h3>
* [[Projects and miscellaneous]] (projects, research, and other mechatronics-related info)
*[[4520 Board intro|Prototyping board intro]]
*[[4520 Board construction|Assembling the 18F4520 prototyping board, circuit, parts]]
*[[4520 Board use|Using the 18F4520 prototyping board]]
<br>

<h3>Programming with CCS C </h3>
*[[C language|The C language]]
*[[CCS C|CCS C, specifically for the 18F4520]]
*[[CCS IDE|Using the CCS development environment]]
*[[Debugging C on a PIC]]
<br>
<h3>Interfacing and skeleton code for the PIC 18F4520</h3><br>
<b>These topics have wiki pages <i>and</i> sample code available</b><br>
<b>[http://peshkin.mech.northwestern.edu/pic/code Link to all sample code here.]</b>
<br>
* [[Digital inputs & outputs]] (filename: DigitalIO)
* [[Analog Input]] (filename: AnalogInput)
** reading a trimpot
** reading a phototransistor
** amplified phototransistor, and IRED strobing
** using an instrumentation amp (example: for a strain gauge)
* [[Analog Output|Analog Output, and the I2C bus]] (filename: AnalogOutput)
*[[Pulse width modulation|Pulse width modulation (PWM) for driving motors or other high current devices]] (filename: MotorPWM)
** using H-bridges
* [[Interrupts]]
* [[Quadrature decoding in software]] (filename: QuadratureSoft)
* [[Quadrature decoding in hardware, or just counters]] (filename: QuadratureHard)
* [[Running RC servos]] (filename: RCservoSoft & RCservoHard)
* [[Watchdog timer]] (filename: Watchdog)
* [[PIC RS232|Serial communication to a text window (RS232, COM ports)]] (filename: RS232)
* [[C Example: Serial LCD|Text output to a serial LCD display]]
* [[C Example: Parallel Interfacing with LCDs|Text output to a parallel LCD display]]
* [[Servo skeleton with fast & slow interrupts]]
<br>
<b>These topics have sample code available, but no wiki pages yet</b><br>
<b>[http://peshkin.mech.northwestern.edu/pic/code Link to all sample code here.]</b>

* Counter0 - Counting pulses with Timer0]
* Counter1 - Counting pulses with Timer1]
* Interrupt0 - Periodic servo cycles using interrupt routines, 10mS & slower; Timer 0]
* Interrupt2 - Periodic servo cycles using interrupt routines; 10mS & faster; Timer 2]
* InterruptExternal - Interrupts generated by an external pulse]

<br>
<b>These topics need more development</b><br>
<b>[http://peshkin.mech.northwestern.edu/pic/code Link to all sample code here.]</b><br>
* AnalogOutputParallel - Analog output using 8 digital lines]
* PIC-to-PIC communication
* Zigbee radio communication
* Modulated IR communication
* Strobing LEDs or IREDs for better range and immunity to background light
* I2C communication
* CAN bus
* Capturing data to Matlab
* Running stepper motors
<br>

<h3>PIC Microcontrollers</h3>
* [[PIC Microcontrollers with CCS Compiler]], for DC, 333, etc, using the CCS ICD-U40 device <b>[this section has been replaced by the material above]</b>
* [[PIC Microcontrollers with C18 Compiler]], for e-puck, or using the Microchip ICD device or
<br>

<h3>e-puck Mobile Robot</h3>
* [[e-puck Mobile Robot]]
<br>

<h3> Basic Electronics </h3>
* [http://hades.mech.northwestern.edu/wiki/index.php/Category:Electronics Electronics]
<br>

<h3>Analog and Digital chips</h3>
* [[Comparators | Comparators: the analog to digital interface]]
* [http://en.wikipedia.org/wiki/Operational_amplifier_applications Opamps : building blocks of analog computation]
* [http://www.mech.northwestern.edu/courses/433/Writeups/InstAmp/instamp.htm Instrumentation amps, and NU circuit board for them]

<br clear=all/>

<h3>[[:Category:Sensors|Sensors]]</h3>

* [[Potentiometers|Angle, Linear Position: Potentiometers]]
* [[Optointerrupter|Beam Breaker: Optointerrupter]]
* [[Optoreflector|Proximity: Optoreflector]]
* [[Sensing optical tape|Infrared reflectivity : Sensing optical tape]]
* [[Reed Switch|Proximity: Reed Switch]]
* [[Hall Effect Sensor|Proximity, Angle: Hall Effect Sensor]]
* [[Rotary Encoder|Angle: Rotary Encoder]]
* Angular Velocity: Tachometer
* [[Photodiodes and Phototransistors|Light: Photodiodes and Phototransistors]]
* [[Photocell|Ambient Light: Photocell]]
* [[Thermistor|Temperature: Thermistor]]
* Temperature: Thermotransistor IC
* Audio: Microphone
* [[Accelerometer|Tilt, Acceleration: Accelerometer]]
* [[Strain Gauge|Force: Strain Gauge]]
* Current: Current Sense Resistor
* [[Limit Switch|Contact: Microswitch (Limit Switch)]]


<br clear=all/>

<h3>[[:Category:Actuators|Actuators]]</h3>
[[image:All-actuators-captions-small.jpg|thumb|300px|[[Actuators Available in the Mechatronics Lab|Available Actuators]]|right]]

* [[Brushed DC Motor Theory|Brushed DC Motors]]
** [[Choosing a Motor and Gearing Combination|Choosing a Motor and Gearing Combination]]
** [[Linear Amplifier Motor Driver|Driving Using a Linear Amplifier]]
** [[Driving using a single MOSFET|Driving using a single MOSFET]]
** [[Pulse Width Modulation|Driving Using Pulse Width Modulation]]
** [[PIC PWM Motor Driver]]
** [[Gear Motor]]
*** [http://www.mech.northwestern.edu/courses/433/Writeups/AddEncoderHobbyEngGearMotor Adding a rotation encoder to a gearmotor]
* [[Brushless DC Motors]]
** [[Driving Brushless DC Motors]]
* [[Stepper Motor Theory|Stepper Motors]]
** [[Stepper Motor Circuits|Driving Stepper Motors]]
** [[Unipolar Stepper Motor Driver Circuit]]
** [[Bipolar Stepper Motor Driver Circuit]]
* [[RC Servo Theory|RC Servos]]
** [[555 Servo Circuit|Driving Your Servo Using a 555 Timer]]
* [[Solenoid Theory|Solenoids]]
** Practice: Driving Your Solenoid
* AC Motors
** [[Using the Yaskawa Motors]]
* [[Actuators Available in the Mechatronics Lab]]
<br clear=all/>

<h3>Mechanical Design</h3>
*Mechanics of Materials
**Beam Mechanics
**[[Mohr's Circle]]
*Failure Theories
**Static Loading
**Variable Loading and Fatigue
*Fastening
**Nuts and Bolts
**Keys and Keyways
**Press-fits
**Set Screws
*Support
**Housings
**Shafts
**[[Bearings]]
*Transmission
**Rigid: [[Gears]]
**Flexible: Belts, Chains
**Motion Connection/Separation: Clutches, Brakes, Couplings
*Linkages
**Serial Chains
**Parallel and Closed-Loop Chains
*Other: springs/dampers, cams, etc.

<br clear=all/>

<h3>The PC/104 Stack</h3>
[[Image:Img0174.jpg|thumb|300px|[[PC104 Overview|The PC104 Stack]]|right]]
* [[PC104 Overview|Overview]]
* [[The PC/104 Lab Kit]]
* Hardware:
** [[Advantech CPU Card]]
** [[Sensoray 526 Data Aquisition Card]]

** [http://www.mech.northwestern.edu/courses/433/Writeups/PC104BoB/stack.htm#power[Power Components]]
** [http://www.mech.northwestern.edu/courses/433/Writeups/PC104BoB/stack.htm#electrical[I/O Electronics: Analog I/O, Digital I/O, Encoder Connections]]
* Advanced: Creating a Working Stack from Parts
** [http://www.mech.northwestern.edu/courses/433/Writeups/PC104BoB/stack.htm [Building the Breakout Board]]
** [http://www.mech.northwestern.edu/courses/433/Writeups/PC104BoB/stack.htm#ribboncables[Breakout Board Ribbon Cables]]
** [http://www.mech.northwestern.edu/courses/433/Writeups/PC104BoB/stack.htm#mechanical[Assembling the PC104 Stack]]
** '''[[Creating an xPC Flash Boot Disk]]''' <- when new version of MATLAB
* Custom Boards
** Dual PWM Motor Controller
** Dual Linear Amplifier Motor Controller
<br clear=all/>

<h3>xPC Target Real-Time Operating System</h3>

* [[xPC Overview|Overview of Real-Time Programming with Simulink and xPC Target]]
* [[Configuring xPC Target PC|Configuring xPC Host/Target PC]]
* [[Creating a Simple xPC Program|'''Quickstart''':Creating a simple xPC Program]]
* [[Common xPC Blocks|Commonly Used Blocks]]
* [[Using the Host Scope]]
*Advanced
** Model Properties
** [[XPC M-file Communication|M-file communication]]
** Using outside of the lab
** [[media:standalone.pdf|Standalone Mode]]
** Stateflow
* Code Examples
** [[Controlling a DC Motor with an Encoder]]
** Something With State Machine
** [[Using RS-232 and Printing to LCD]]
**[[UDP Communications between Target and Host PC]]
** M-functions and S-functions
** [[xPC Code From Student Projects]]
<br clear=all/>

<h3>QNX Real-Time Operating System</h3>
*[[media:qnxtemplate.zip|QNX Control Program with Interrupts]]

<br clear=all/>

<h3>Lab Supplies and Data Sheets</h3>

* [http://spreadsheets.google.com/pub?key=pa_bNAhFF-OvvxpSje1KDYg&output=html&gid=0&single=true Generally stocked lab inventory ]

<br clear=all>

<h3>[[Vendors]]</h3>

<br clear=all>

<h3>Other Software</h3>
*[[List of Useful Software for Download]]
*Circuit Schematics and PCB Layout
*LaTex Document Preparation
** [http://meta.wikimedia.org/wiki/Help:Formula Mathematical Formulae]
** Document Formatting
** [[LaTeX Software Setup|Software Setup]]
** IEEE Styles

<br clear=all>

<h3>[[Other Lab Equipment]]</h3>
* Prototyping Tools
** [[Tektronix TDS220 Oscilloscope]]
** [[Tektronix CFG253 Function Generator]]
** [[media:Mastech_power_supply_manual.pdf|Mastech Power Supply]]
** Fluke III Multimeter
** Benchtop Multimeter
** Powered Breadboard
** Soldering Iron
* [http://ediacaran.mech.northwestern.edu/neuromech/index.php/Lab_Equipment High Performance Neuromechatronics Benches]
* The Sensoray 626 DAQ Card

<br clear=all>

<h3>Course Material</h3>
* [[ME 224 Experimental Engineering]]
* [http://www.mech.northwestern.edu/hartmann/ME333_CourseInformation.html ME 333 Mechatronics]
* [http://www.mech.northwestern.edu/courses/433/ ME 433 Advanced Mechatronics]


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[[2016 ASME ME Department Heads' Forum]]


[[Evaluating Form Closure Project]]
<h3>Miscellaneous</h3>
* [[Swarm Robot Project]]
[[Stability of an Assembly Project]]
** [[Swarm Robot Project Links]]
[[Writing a CSV File]]
-->

Latest revision as of 16:39, 15 March 2023

Northwestern Mechatronics Design Lab

The Northwestern University mechatronics design wiki provides reference material on the theory and applications of electronics, sensors, actuators, etc., for use in mechatronics-related research and projects. Practical applications often refer to equipment and supplies available in the Northwestern Mechatronics Design Lab.

The mechatronics wiki was initiated by undergraduate Ben Stephens in 2006, under the supervision of Profs. Kevin Lynch and Michael Peshkin. Since then, many students have contributed content.


(Here you can find the Old Index Page of the mechatronics wiki, as of May 2, 2009. That page is now obsolete, and new material should be indexed on the pages below. New pages may be indexed in multiple places.)


Retrieved from "https://hades.mech.northwestern.edu//index.php?title=Main_Page&oldid=26387"