DEPARTMET OF ELECTRONICS AND COMMUNICATION ENGINEERING

MECHATRONICS
LABORATORY
MECHATRONICS LABORATORY
(Common to ECE, EEE, CSE and ME)
Year Semester Hours / Week C Marks
L T P/D CIE SEE Total
II II - - 3 2 30 70 100
Pre-requisite
COURSE OBJECTIVES

1.
Study the Arduino and its Importance to Engineering 2.
Study applications such as Interfacing RC components, DC and AC motor Control using Arduino 3.
Study and Develop the Load Measurement of Strain Gage, Conveyer belt and Mechatronic Systerm 4.
Construct various circuits using OP Amp 5.
Choose various methods of Stepper Motor Control using Arduino
COURSE OUTCOMES At the end of the course, the student will be able to

1.
Demonstrate the importance of Arduino 2.
Assess the controlling of Output & Input base circuits using Arduino 3.
Develop an RC circuit and Interface with Arduino 4.
Interpret the Bidirectional control of DC motor using Arduino

5.
Examine the control of DC and AC Motors using Arduino 6.
Develop a circuit with Stepper Motor drive using Arduino 7.
Build various circuits using OP Amps an Interface with Arduino 8.
Construct circuits for Load Measurement, Speed Control using Conveyer belt using Arduino and build a
Mechatronic system
LIST OF EXPERIMENTS

1.
Study of Arduino 2.
Controlling output LEDs based on inputs (toggle switches) and light-controlled switch using Arduino. 3.
Design and build circuits using RC components Interfacing them to Arduino. 4.
Bi-directional control of DC motor using Arduino 5.
Speed control of DC motor using Arduino 6.
Position control of DC motor using PWM technique. 7.
Speed control of AC motor using Arduino. 8.
Control of Unipolar, Bipolar, and Full-Step stepper motor drive using Arduino 9.
Study and calibration of load measurement using strain gauge. 10.
Configure and test different types of Operational Amplifiers and Interface with Arduino 11.
Build a small conveyer belt with adjustable speed control. 12.
Design a complete Mechatronic system incorporating sensors, Signal Conditioning, Amplification,
Actuation and Drives.
Experiment No. 1 STUDY OF ARDUINO The Arduino Mega 2560 is a microcontroller board
based on the ATmega2560 (datasheet). It has 54 digital input/output pins (of which 14 can be
used as PWM outputs), 16 analog inputs, 4 UARTs (hardware serial ports), a 16 MHz crystal
oscillator, a USB connection, a power jack, an ICSP header, and a reset button. It contains
everything needed to support the microcontroller; simply connect it to a computer with a USB
cable or power it with a AC-to-DC adapter or battery to get started. The Mega is compatible with
most shields designed for the Arduino Duemilanove or Diecimila. Technical Specifications
Microcontroller : ATmega2560
Operating Voltage : 5V
Input Voltage (recommended) : 7-12V
Input Voltage (limits) : 6-20V
Digital I/O Pins : 54 (of which 14 provide PWM output)
Analog Input Pins : 16
DC Current per I/O Pin : 40 mA
DC Current for 3.3V Pin : 50 mA
Flash Memory : 256 KB of which 8 KB used by
bootloader SRAM 8 KB
EEPROM : 4 KB
Clock Speed : 16 MHz
Power Pins The Arduino Mega2560 can be powered via the USB connection or with an external
power supply. The power source is selected automatically. External (non-USB) power can come
either from an AC-to-DC adapter (wall-wart) or battery. The adapter can be connected by
plugging a 2.1mm center-positive plug into the board's power jack. Leads from a battery can be
inserted in the Gnd and Vin pin headers of the POWER connector.
The board can operate on an external supply of 6 to 20 volts. If supplied with less than 7V,
however, the 5V pin may supply less than five volts and the board may be unstable. If using
more than 12V, the voltage regulator may overheat and damage the board. The recommended
range is 7 to 12 volts. The Mega2560 differs from all preceding boards in that it does not use the
FTDI USB-to-serial driver chip. Instead, it features the Atmega8U2 programmed as a USB-to-
serial converter. The power pins are as follows:
VIN: The input voltage to the Arduino board when it's using an external power source
(as opposed to 5 volts from the USB connection or other regulated power source). You can
supply voltage through this pin, or, if supplying voltage via the power jack, access it through this
pin.
5V: The regulated power supply used to power the microcontroller and other components on the
board. This can come either from VIN via an on-board
regulator, or be supplied by USB or another regulated 5V supply.
3V3: A 3.3 volt supply generated by the on-board regulator. Maximum current
draw is 50 mA.
GND: Ground pins. Memory The ATmega2560 has 256 KB of flash memory for storing code (of
which 8 KB is used for the bootloader), 8 KB of SRAM and 4 KB of EEPROM (which can be
read and written with the EEPROM library). Input and output pins Each of the 54 digital pins on
the Mega can be used as an input or output, using pinMode(), digitalWrite(), and digitalRead()
functions. They operate at 5 volts. Each pin can provide or receive a maximum of 40 mA and has
aninternal pull-up resistor (disconnected by default) of 20-50 kOhms. In addition, some pins
have specialized functions: Serial: 0 (RX) and 1 (TX); Serial 1: 19 (RX) and 18 (TX); Serial 2:
17 (RX) and 16 (TX); Serial 3: 15 (RX) and 14 (TX). Used to receive (RX) and transmit (TX)
TTL serial data. Pins 0 and 1 are also connected to the corresponding pins of the ATmega8U2
USB-to-TTL Serial chip. External Interrupts: 2 (interrupt 0), 3 (interrupt 1), 18 (interrupt 5), 19
(interrupt 4), 20 (interrupt 3), and 21 (interrupt 2). These pins can be configured to trigger an
interrupt on a low value, a rising or falling edge, or a change in value. See the attachInterrupt()
function for details. PWM: 0 to 13. Provide 8-bit PWM output with the analogWrite() function.
SPI: 50 (MISO), 51 (MOSI), 52 (SCK), 53 (SS). These pins support SPI communication, which,
although provided by the underlying hardware, is not currently included in the Arduino
language. The SPI pins are also broken out on the ICSP header, which is physically compatible
with the Duemilanove and Diecimila. LED: 13. There is a built-in LED connected to digital pin
13. When the pin is HIGH value, the LED is on, when the pin is LOW, it's off. I2C: 20 (SDA)
and 21 (SCL). Support I2C (TWI) communication using the Wire library (documentation on the
Wiring website). Note that these pins are not in the same location as the I2C pins on the
Duemilanove. The Mega2560 has 16 analog inputs, each of which provide 10 bits of resolution
(i.e.
1024 different values). By default they measure from ground to 5 volts, though is it possible to
change the upper end of their range using the AREF pin and analogReference() function. There
are a couple of other pins on the board:
AREF: Reference voltage for the analog inputs. Used with analogReference().
Reset: Bring this line LOW to reset the microcontroller. Typically used to add a
reset button to shields which block the one on the board. The Arduino Mega2560
has a number of facilities for communicating with a computer, another Arduino, or other
microcontrollers. The ATmega2560 provides four hardware UARTs for TTL (5V) serial
communication. A Software Serial library allows for serial communication on any of the Mega's
digital pins. The ATmega2560 also supports I2C (TWI) and SPI communication. The Arduino
software includes a Wire library to simplify use of the I2C bus; see the documentation on the
Wiring website for details.
Viva-Voce Questions:
Experiment No.2 CONTROLLING OUTPUT LEDS BASED ON INPUTS (TOGGLE
SWITCHES) AND LIGHT-CONTROLLED SWITCH USING ARDUINO
Aim: To blink the Light Emitting Diode using Arduino. Apparatus Required:

1.
Arduino Mega 2560 board - 1No. 2.
Desktop terminal with Arduino software - 1No. 3.
Universal serial bus cable - 1 No. 4.
Resistor (1K) - 1 No. 5.
Light Emitting Diode - 1 No. Circuit diagram:
Program:
Result:
Aim: To controlling output LEDs based on input toggle switch.
Apparatus Required:

1.
Arduino Mega 2560 board - 1No. 2.
 Desktop terminal with Arduino software - 1No. 3.
Universal serial bus cable - 1 No. 4.
Resistor (1K) - 1 No. 5.
Light Emitting Diode - 1 No. 6.
Toggle switch - 1 No. Circuit diagram:
Program:
Result:
Aim: To controlling output LEDs based on input light using light dependent resistor.
Apparatus Required:

1.
Arduino Mega 2560 board - 1No. 2.
Desktop terminal with Arduino software - 1No. 3.
Universal serial bus cable - 1 No. 4.
Resistor (1K) - 1 No. 5.
Light emitting diode - 1 No.

6.
Light dependent resistor - 1 No. Circuit diagram:
Program:
Result: Viva-Voce:

1.
Explain the operation of LDR 2.
What is the difference between LDR and potentiometer 3.
What is the resistance range of LDR 4.
What are the applications of LDR
Experiment No. 4 BI-
DIRECTIONAL CONTROL OF DC MOTOR USING ARDUINO
Aim: To rotate the dc motor in both directions (clockwise and anti clockwise). Apparatus
Required:

1.
Arduino Mega 2560 board - 1No. 2.
 Desktop terminal with Arduino software - 1No. 3.
Universal serial bus cable - 1 No. 4.
5V DC motor - 1 No. 5.
IC 293 Driver - 1 No. Circuit diagram:
Program:
Result:
Viva-Voce:

1.
Working principle of DC motor 2.
Types of DC motor 3.
Explain the construction details of DC motor
Experiment No. 5 SPEED CONTROL OF DC MOTOR USING ARDUINO Aim: To control the
speed of the dc motor using pulse width modulation technique. Apparatus Required:

1.
Arduino Mega 2560 board - 1No. 2.
Desktop terminal with Arduino software - 1No. 3.
Universal serial bus cable - 1 No. 4.
5V DC motor - 1 No. 5.
IC 293 Driver - 1 No. 6.
Potentiometer - 1 No. Circuit diagram:
Program:
Result: Viva-Voce: 1. What are the different techniques used to control the speed of DC motor 2.
Write the relation between speed and voltage 3. List out the applications of DC motor
Experiment No. 6 POSITION CONTROL OF SERVO MOTOR USING PWM TECHNIQUE
Aim: To control the position of the servo motor using pulse width modulation technique.
Apparatus Required:

1.
Arduino Mega 2560 board - 1No. 2.
Desktop terminal with Arduino software - 1No. 3.
Universal serial bus cable - 1 No. 4.
Servo motor (SG90) - 1 No. 5.
 Potentiometer - 1 No. Circuit diagram:
Program:
Result: Viva-Voce: 1. What are the differences between servo motor and dc motor
2. List out the applications of Servo motor
Experiment No. 7 SPEED
CONTROL OF AC MOTOR USING ARDUINO
Aim: To control the speed of the ac motor using pulse width modulation technique. Apparatus
Required:

1.
Arduino Mega 2560 board - 1No. 2.
Desktop terminal with Arduino software - 1No. 3.
Universal serial bus cable - 1 No. 4.
5V AC motor - 1 No. 5.
IC 293 Driver - 1 No. Circuit diagram:
Program:
Result: Viva-Voce:

1.
Working principle of AC motor 2.
Types of AC motor 3.
Explain the construction details of AC motor 4.
What are the different techniques used to control the speed of AC motor

5.
Write the relation between speed and voltage 6.
List out the applications of AC motor
Experiment No.8 CONTROL OF UNIPOLAR, BIPOLAR AND FULL-STEP, HALF-
STEP STEPPER MOTOR DRIVE USING ARDUINO Aim: To control of Unipolar,
bipolar stepper motor using wave drive schemes. Apparatus Required:

1.
Arduino Mega 2560 board - 1No. 2.
Desktop terminal with Arduino software - 1No. 3.
Universal serial bus cable - 1 No. 4.
 Stepper motor - 1 No. 5.
IC 293 Driver - 1 No. Circuit diagram:
Program: For wave drive
For full step wave drive
For half step wave drive
Wave drive Schemes:
Wave drive Schems Full Step Full Step
Clockwise direction Clockwise direction Clockwise direction
w1 w2 w3 w4 w1 w2 w3 w4 w1 w2 w3w4
000110010001
001011001001
010001100010
100000111100
0100
Anticlockwise direction Anticlockwise direction 0 1 1 0
w1 w2 w3 w4 w1 w2 w3 w4 1 0 0 0
000100110011
00100110
0 1 0 0 0 1 1 0 Anticlockwise direction
1 0 0 0 1 0 0 1 w1 w2 w3 w4
0001
0011
0010
0110
0100
0110
1000
1001
Result: Viva-Voce:

1.
Applications of stepper motor 2.
Types of stepper motor 3.
 Explain the construction of stepper motor 4.
Difference between stepper motor and dc motor
Experiment No. 10 CONFIGURE AND TEST DIFFERENT TYPES OF OPERATIONAL
AMPLIFIERS AND INTERFACE WITH ARDUINO Aim: To configure summer
amplifier and inverting amplifier interface with Arduino Apparatus Required:

1.
Arduino Mega 2560 board - 1No. 2.
Desktop terminal with Arduino software - 1No. 3.
Universal serial bus cable - 1 No. 4.
Operation Amplifier (IC741) - 2 No. 5.
Temperature IC LM35 - 2 No. 6.
Resistors (2K, 1K) - 5 No. 7.
Light Emitting Diode - 1 No. Circuit diagram:
Program:
Result: Viva-Voce:

5.
Various applications of op-amp 6.
Parameters of op-amp 7.
Adder, differentiator, substractor formulas 8.
How integrator act as an low pass filter 9.
How differentiator act as an high pass filter 10.
What is the purpose of filter 11.
What are the different techniques used in A/D converter 12.
What are the different techniques used in D/A converter
Experiment No. 11
BUILD A SMALL CONVEYER BELT WITH ADJUSTABLE SPEED CONTROL Aim:
To control the speed of conveyor chain belt with potentiometer Apparatus Required:

1.
Arduino Mega 2560 board - 1No. 2.
Desktop terminal with Arduino software - 1No. 3.
Universal serial bus cable - 1 No. 4.
 5V DC motor - 1 No. 5.
IC 293 Driver - 1 No. 6.
Potentiometer - 1 No. Circuit diagram:
Program:
Result:
Viva-Voce:

13.
List out the various types of gears 14.
What is gear ratio
Experiment No. 12 DESIGN A COMPLETE MECHATRONIC SYSTEM INCORPORATING
SENSORS, SIGNAL CONDITIONING, AMPLIFICATION, ACTUATION AND DRIVES
Experiment No. 13 TEMPARATURE
MEASUREMENT
Aim: To find the room temperature and when the room temperature is greater than 30
0

then the Light Emitting Diode will glow. Apparatus Required:

1.
Arduino Mega 2560 board - 1No. 2.
Desktop terminal with Arduino software - 1No. 3.
Universal serial bus cable - 1 No. 4.
Temperature IC LM35 - 1 No. 5.
Resistors - 1 No. 6.
Light Emitting Diode - 1 No. Circuit diagram:
Program:
Result: Viva-Voce:

15.
List out the various temperature sensors 16.
Applications of and temperature ranges of different temp sensors
Experiment No. 14 LIQUID CRYSTAL
DISPLAY INTERFACING Aim: To display the multiple names and hall ticket numbers and
scroll the name towards left side and right side. . Apparatus Required:
1.
Arduino Mega 2560 board - 1No. 2.
Desktop terminal with Arduino software - 1No. 3.
Universal serial bus cable - 1 No. 4.
Liquid Crystal Display - 1 No. Circuit diagram:
Program:
Result:
Experiment No. 15 OBJECT
COUNTING USING IR TRANSMITTER AND RECEIVER Aim: To count the number of
objects using IR transmitter and receiver. Apparatus Required:

1.
Arduino Mega 2560 board - 1No. 2.
Desktop terminal with Arduino software - 1No. 3.
Universal serial bus cable - 1 No. 4.
IR transmitter and receiver pair - 1 No. Circuit diagram:
Program:
Result: Viva-Voce:

1.
What is mean by IR 2.
List out the various applications of IR Sensors 3.
Specifications of IR sensor