https://www.mechatronicsproject.com/home daily 1.0 2022-10-16 https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522122110245-WUN6VJZJUL7RK6K36DAA/iOS+Test+App Home Simple iOS app created to send commands to Zynq processor and receive feedback during testing https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522121395754-H9PFZ95950N0VYIAMSPB/Gate+Ringing Home MOSFET gate voltage ringing during turn on/off https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522118956484-5E5FB6526DKXJ0BVBRFV/H-Bridge+Circuit Home MOSFET full bridge and gate drive circuit https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522121834182-0XIV8UL238WCYWJM6XSP/Encoder+Testing Home Testing of the incremental rotary optical encoders that are used to measure the speed of each motor https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522119030587-BIPXYKRDH9EAHDAIMC4Q/Driver+PCB+Render Home 3D rendering of prototype motor driver PCB https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522121115162-DEXITXSN0VU1BB0JN728/PMOD+Adapter+PCBs Home Two custom PCBs made to provide isolated connection between 5V driver board signals and the 3.3V FPGA i/o on the development board's PMOD connectors https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522208958807-JS4U0GHJOQWT7EJKKITF/Xilinx+Block+Diagram Home Xilinx block diagram of Zynq FPGA/processor system configuration. Several small VHDL modules were used to test communication with various components of the motor driver board before being integrated in to a single module to control each pair of motors. https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522121986185-85DVA3TXXE0SJA32WHN7/Cable+Routing Home Cable routing from motors, encoders, and height/steering angle sensors https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522121208900-1ULE20IGHCI7KCYZLBD6/PCB+Testing Home Two motor driver prototype PCBs being tested https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522122456086-5CWWEYTLWIES6KSWTXDP/TPS+Steering+Sensor Home Automotive throttle position sensors mounted on custom brackets to measure the steering angle of each wheel https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522118171641-UA1LBLGKPQM86YZDSBSO/PCB+Layout Home PCB layout with MOSFET bridge, gate driver, current sensing/digitization, and encoder connection https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522121000078-4DPECB8ZXZGBKKGZ7KJI/Driver+PCB+Bottom Home Bottom view showing via stitching on high-current paths https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522118062970-BF7HQMX3C32I8EJ6WMJG/Driver+PCB Home Hand-soldered 2-layer prototype motor driver PCB https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522172925264-QC0HU6QAEL1A5ZOCB9XD/drive_chain Home Drive chain and steering cable housings https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522124353897-82LJKDMR59MFIU29UICP/internal_assembly_rendering Home Rendering of swingarm internal assembly https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522124402151-0M1ZT1XBEF6P4H60EXVU/mechanical_assembly Home Completed mechanical assembly https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522386991092-O4QBZ17GE8EDRE4UW01L/underside Home Underside of completed prototype https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1523138569648-KXOQRN35Z40O3BUNC0KL/fullsizeoutput_4f9.jpeg Home Rendering of full as-built mechanical assembly, containing approx. 8,000 parts https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522172891195-UYSIREFH3LUHNSRBE7YZ/knuckle_hub_axle Home Steering knuckle/hub/axle assembly https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522173447053-D1Z33GQ41OLDGWZWYMSJ/height_adjust_winch Home Height adjustment winch https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522172726437-675VQE94SAOBNM2K8UCY/swingarm_mount Home Swingarm mount https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522172582310-OED74ZTW3X7FHI38ERST/arm_internal_assembly Home Swingarm internal assembly https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522173167639-HJ9FW4A3WGVE6WPDIROU/steering_winch Home Steering cable winch with planetary gear reduction https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522177118584-YLWZGZ22B6JS537LMR51/steering_spool_1 Home https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522177712134-P682K6NQ8JSIHZMNI4O9/keyway_milling Home 4mm keyways milled into steel shaft https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522177311454-PQCCPBZHDPOHPR5US256/shaft_support Home Custom shaft support for attaching swingarms to frame https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522179099691-2JB6KK8EYIXXNH886XQE/waterjet_cut Home Waterjet cutting 1/8" 6061 https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522179086647-9FKC2TTXGTYV3BMYIOVF/waterjet_nest Home Automated part nesting for waterjet cutting https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522178672288-Q5EGSQ4H4PRC0U8RT7NV/gear_driling Home TiAlN-coated carbide was used to drill through these hardened steel gears. https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522179091721-XJHYN7E8I3CG4QPAYDI6/waterjet_path Home Manually adding tabs, waterjet paths, and cutting speeds https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522179991963-9FAOTP4ZSTPSCFIAPTX7/laser_nesting Home Part nesting for laser cutting https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522180020763-AYKPGVY7BJ99712ZBUB2/delrin_1-32_cutting Home Laser cutting 1/32" Delrin https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522179744944-CKNKY8SEZIH9TMHIQV8H/pipe_bending Home Steering cable housing being bent from 1/2" aluminum tubing https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522177215091-E5NTB9FQ1BB8E821ENE9/caster_rotor_1 Home 6061 aluminum turned, faced, drilled, and bored https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522177291714-6N7DSUCLZUS7KESQJ7W2/caster_rotor_2 Home M10-1.5 tapped through holes https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522179947936-Q9QN7EQ64VIHET2SA0IG/delrin_1-8_cutting Home Laser cutting 1/8" Delrin https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522179285122-OKMUQBCGMSWI7TAX41DJ/waterjet_sheet Home Parts still attached to sheet via tabs https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522177669773-1UG6X53ECXEH7ZO6R4E0/sensor_shafts Home Custom sensor shafts machined from hex rod stock https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522179232254-I0RMD3IONU94LSQAP6ZQ/waterjet_fininsh Home Parts after deburring and finishing with maroon Scotch-Brite pad https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522177239988-KWPW0LZXFLIXCEPLPKXB/steering_spool_2 Home https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522179239756-H8VZEVSNGQ8NJD971Q8H/waterjet_bushing Home Oilite bushing pressed into plate after reaming waterjet hole to H7 tolerance https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522178493176-L0KMQQY650MEKF8EUA87/gear_spot_drilling Home Spot drilling for countersunk M5 flat head screw clearance holes https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522179641767-EGQBL0MJ1DSTYX3ZEXZ6/extrusion_assembly Home Aluminum profile extrusion assembly https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522179735772-XRVP5F68HI2W95S588UM/bushing_press Home Bushing pressed into gear hub https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522178637691-6TL6454ML6C58UICN44O/gear_hub_machining Home Hub o.d. turned down from 30mm to 29mm to fit a standard sprocket https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522179078184-3AZ7UNKCMLY7M1WPL1DN/waterjet_sketch Home CAD sketch of part designed for waterjet cutting https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522179224694-3JB0EFXVENGLKEA1N950/waterjet_countersink Home 1/4" 7075 waterjet parts after countersinking on drill press with self-centering single flute countersink https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522179721773-XYH1DD6TPUDZAO12950S/extrusion_modification Home 13mm holes milled into extrusions https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522177125924-EAD6Y64BTGCA6QFHZAE9/steering_spool_3 Home https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522180494580-7GB52U67DNE0REKT2QIP/differential_power_sharing Home https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522182401550-7BJ9FEAXZNITB49F76RX/swingarms_lowered Home Rendering showing all four swingarms fully lowered https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522181019665-KWEO3RB1LCCXYGH7LI2U/steering_motor_group Home Steering motor group https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522180954399-9167LIGHRO2D6GKT98HQ/height_motor_group Home Height adjustment motor group https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522182427627-UFI44LZPK0YL6PBPNEQF/swingarms_raised Home With all four swingarms fully raised, the frame-to-ground clearance is approximately 30in. https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522195023469-1KX58I7SK0514HYK7OS9/first_frame_rendering Home Rendering of first frame design https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522195839803-80N7TBKREB8Q9YAC7FKK/third_knuckle Home Third knuckle mount design https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522195648542-ZPDXGNXI56BFUWQ4837L/third_swingarm Home Third swingarm design https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522195864629-E5YB3CI9L39SS18KJ5BO/second_knuckle Home Second knuckle mount design https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522267157253-YNRN4Z9HS5U6AQILZ2WD/second_swingarm Home Second swingarm design, with temporary laser cut MDF and plywood parts https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522195801173-E3U3CB3JYAVADCYW36KS/first_knuckle Home First knuckle mount design, made with MISUMI configurable components https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522195033644-0P3POJ0E98LQDL9LNKYH/second_frame_wooden Home Wooden prototype of second frame design https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522195498723-YXYMPGN88XIXTFFTIJHW/first_swingarm Home First swingarm design, made with MISUMI configurable components https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522195354021-R7UYUK94ZCP9SSUP79I9/laser_cut_delrin Home Laser cut 1/8" Delrin was used to check parts before waterjet cutting. https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522196231986-91VQPDKF1XHM97XSMP0J/prototype_full_bridge Home Prototyping MOSFET bridge with through hole version of gate driver chip https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522195123918-421FJUC5ZVMRU377JBWI/third_frame_rendering Home Rendering of third frame design https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522195250963-C3D0ZFIT0GITYRX9KQ9S/misumi_components Home MISUMI configurable components were used whenever possible to minimize the number of custom machined parts required. https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522196076829-GDLFTTRA10ONI9LW7GFF/swingarm_test_setup Home First swingarm design testing https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522196163771-NZICTIJ72FHGQ1HJQ5FY/breadboard_circuit Home Simple breadboard circuit created to control a pair of off-the-shelf motor controllers via an Arduino before developing the FPGA motor controller and custom driver PCBs https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522195291344-WQ5YKIGHD87Y0F255FTJ/laser_cut_mdf Home Laser cut 1/4" MDF was used to confirm the fit of parts prior to cutting them from 1/4" or 1/2" aluminum plate. https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522386226289-ZBFHQACW26RY5K6OLGCD/fullsizeoutput_4ec.jpeg Home https://www.mechatronicsproject.com/contact-page daily 0.75 2018-04-29 https://images.squarespace-cdn.com/content/v1/5ab9a1ca3917ee17d155243f/1522267654256-M09XERXTNETH6JVZZ6JB/lowered_no_frame Contact