Mechatronic Systems Analysis

A mechatronic system can be anything from an industrial robot arm, to an autonomous car, to your home washing machine. It is the collection of software, mechanical, and electronic subsystems into a cohesive functional unit. This lab manual provides hands-on experience with a complete mechatronic system from low-level integration through the essential systems and processes to the higher-level automation algorithms. Each activity emphasizes the interplay between mechanical actuation, kinematics, image processing and control. The structure of lab activities combine concept exploration and self-directed challenges with classic laboratory experiments to truly prepare students for the task of designing complex mechatronic systems.
by Quanser Inc.
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LEARNING OBJECTIVES

  1. Describe the process by which rotary position is measured using encoders
  2. Describe the form and function of PWM signals and how these signals are used to drive DC motors
  3. Explain the relation between joint-space and task-space manipulator control
  4. Apply kinematic equations to convert between joint and task-space
  5. Design a PID joint controller using manual tuning which meets design requirements
  6. Select appropriate thresholds for isolating specific image information
  7. Describe the process and function of blob detection algorithms
  8. Explain the process and application of pettern matching algorithms
  9. Construct a state machine
  10. Apply Image processing, manipulator control and state machine logic to complete a mechatronic task 

 

COURSE ALIGNMENT

 
Level Undergraduate
Topic Mechatronic Systems
Style Laboratory, Project Based Learning
Prerequisite Skills
  • Differential Equations or equivalent
  • Linear Algebra or equivalent
  • Dynamic Systems or equivalent
  • Introduction to Programming or equivalent
  • Basic experience with LabVIEW

INCLUDED COURSE LABS

In this lab, students will complete activities to control the speed of a DC motor using Pulse Width Modulation (PWM), as well as how to determine the position of the motor using a quadrature encoder.
In this lab students will first complete activities that apply the fundamentals of PID Joint Control, Forward Kinematics, and Inverse Kinematics using the Quanser Mechatronic Systems Board and LabVIEW. Then, they will apply their experience by optimizing the system to an certain maximum error specification while it follows different trajectories.
This lab applies process level algorithms such as thresholding, pattern recognition and blob detection to detect different features such as stars, plus signs etc., as well as determining the state of traffic lights. Students begin by learning the theory and background of image processing. They will then get the chance to implement the knowledge using the mechatronic systems board and detect images using their coding skills.
In this lab, students begin by studying and implementing a state machine system architecture to configure the mechatronic systems board to scan an image without requiring user input. Then, the student will complete a culminating goal-directed line following project in which they will configure the full system, including image processing, position control, and state machine architecture, to accomplish the task.

LabVIEW

LabVIEW is systems engineering software for applications that require test, measurement, and control with rapid access to hardware and data insights.

NI ELVIS III

Engineering laboratory solution for project-based learning that combines instrumentation and embedded design with a web-driven experience, delivering a greater understanding of engineering fundamentals and system design.

Quanser Mechatronic Systems Board for NI ELVIS III

The Quanser Mechatronic Systems Application Board is the only solution that takes students from component-level knowledge of sensors, actuators, and interfacing fundamentals to a system-level understanding of mechatronics design.

Required Software

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  • NI ELVIS III Software Bundle (2018 or later)
    • LabVIEW (Requires license)
    • LabVIEW Real-Time Module (Requires license)
    • NI ELVIS III Toolkit
    • LabVIEW Control Design & Simulation (Requires License)
    • Vision Acquisition Software (Requires License)
    • Vision Development Module (Requires License)

Required Hardware

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