Mechatronics

What is Mechatronics

What Is Mechatronics?
Mechatronics is a methodology used for the
optimal design of electromechanical
products.
Multi-disciplinary system design has
employed a sequential design-by-discipline .
The mechatronic design methodology is
based on concurrent, instead of sequentialapproach to discipline design, resulting in
products with more synergy approach.

Mechatronics Constituents

Mechatronics Key Elements

Automation/Mechatronics Subjects

Mechatronic s Key Elements

Mechatronics Key Elements

1-Information Systems
a- Modeling and Simulation
- Modeling is the process of representing the
behavior of a real system by a collection of
mathematical equations and logic.
- Simulation is the process of solving the model
and it is performed on a computer. The process
of simulation can be divided into three sections:
initialization, iteration, and termination

b- Automatic Controls
_ Mechatronics appears to be nothing more
than control system engineering.
What is the difference?
The difference is the sequence of design steps

c-Optimization
Optimization solves the problem of
distributing limited resources throughout a
system such that pre specified aspects of its
behavior are satisfied.
It is applied to:
. Establish the optimal system configuration
. Identification of optimal trajectories
. Control system design
. Identification of model parameters

2- Electrical Systems
The following electrical components are
frequently used:
- Motors and generators
- Transducers
- Solid state devices including computers
- Circuits (signal conditioning, impedance
matching, amplifiers)
-Contact devices (relays, circuit breakers,
switches)

3- Sensors
Sensors are required to monitor the performance of
machines and processes. Some of the more common
measurement variables in mechatronics systems are
temperature, speed, position, force, torque, and
acceleration.
The characteristics that are important when one is
measuring these variables include the dynamics of the
sensor, stability, resolution, precision, robustness, size,
- and signal processing.
The need for less expensive and precise sensors, as
well as integration of the sensor and signal processing
on a common carrier or on one chip, has become
important.

4- Actuators
Actuation involves a physical acting on the process, such as the
ejection of a workpiece from a conveyor system ini-tiated by a
sensor. Actuators are usually electrical, mechanical, fluid power or
pneumatic based. They transform electrical inputs into mechanical
outputs such as force, angle, and position.
Actuators can be classified into three general groups.
- Electromagnetic actuators, (e.g., AC and DC electrical motors,
stepper motors, electromagnets)
- Fluid power actuators, (e.g., hydraulics, pneumatics)
- Unconventional actuators (e.g., piezoelectric, magnetostrictive,
memory metal)
There are also special actuators for high-precision applications that
require fast responses, They are often applied to controls that
compensate for friction, nonlinearities, and limiting parameters.

5- Computer Systems
- Computer system hardware is usually restricted to
computer-specific circuits and devices. These include
logic networks, flip flops, counters, timers, triggers,
integrated circuits, and microprocessors.
- Fast computer hardware is of little value without the
appropriate software
-Assembly language was the first step toward a higherIevel language
-For more powerful (higher-level) programming
languages to be used, compilers were developed. Some
of the most well-known high-level languages are BASIC,
FORTRAN, C, and Pascal.
-Visual languages, including Matrixx, EasyS, SimuLink,
VisSim, and LabView.

6- Real-Time Interfacing
It is process of fusing and synchronizing model,
sensor, and actuator information is called realtime interfacing or hardware-in-the-loop
simulation.
For mechatronics applications real-time
interfacing includes analog to digital (A/D) and
digital to analog (D/ A) conversion, analog signal
conditioning circuits, and sampling theory.
The main purpose of the real-time interface
system is to provide data acquisition and control
function for the computer.

 Signals transmitted through the A/D and D/ A

devices fall into three categories:
. Analog
. Digital
. Frequency

Machine cell with robot

13. control valve- pneumatic gripper

14. Tactile sensor- gripper force
15. Servo amplifier- robot arm
16. Control computer- robot control
17. Display- robot status
18. Camera- part identification, guidance

Machine cell with robot

CNC Machine

Aircraft Maneuvers

Ship Autopilot

The Automobile as a Mechatronic System

Ignition timing
Fuel-air ratio
Lubrication system
ABS
Traction control
Suspension system
Steering
IVHS (Intelligent Vehicle Highway System)

Using a radar to measure distance and velocity to autonomously maintain desired distance between vehicles.

Autonomous vehicle system design with sensors and actuators.

Temperature Control

Mobile Actuator-Sensor Network

(MAS-net)
Tasks
Efficiently deploy a group of mobile
sensors
to
characterize
the
dynamically
evolving
diffusion
boundary
Using the same mobility platform,
mobile actuators can actively control
the formation of the diffusion
boundary to a desired zone/shape

MASNET Experimental Platform

(Conceptual Block Diagram)

Base station makes

plume prediction and
computes sensor locations

Wireless communication
system broadcasts commands
to actuated sensors
Fog Contaminant
(orange) introduced
into air stream

Fan blows
air (green)
through
system

Vision system for

locating sensors

Actuated sensors
(mote-based robots)
take plume samples

Air outlet

2-D
System
Testbed
Concept

A Closer Look!!!

Tag on top

With Cover

1st Prototype Photos

Mote-based Robot:
USU MASmote

The Test Bed: Motes

Serial Cable

Camera
GUI

Parallel Cable

Programming
Board
Wireless Communication

Camera Driver

Mote (MICA Board)

Robots

TinyOS

Hardware Configuration of the

Mobility Platform
Sensors
2ADC

Control Board (USU)

2 Encoders

3 ADC

3 IR

MICA2
(Berkeley)

AVR Atmega
128 (CPU)

(Sharp GP2D12)

CC1000 (Comm.)

2 PWM

2 Servos

6V Power

2 ADC

2 PhotoResistors

3V Power

Software on Mobile Mote

TinyOS

Stack/Xnp
(Comm.)

Other
Utilities of
TinyOS

User
Applications

Low Level
Lib
2 Servos

2 Encoders

TinyDB

TinySchema
Other Sensors/Actuators

Other Mechatronics Examples

Washing Machine
Thermostat
Camera
Fuel Injection

Fault Detection

Control System Generalised

BlockError
Diagram
Reference
Input

Signal

Control
Effort

System
Controller

Actual
Value

Command
and Triggering
Isolation
And
Buffering

Signal
Conditioning

Digital Controller

Power Input

Power
Electronics

Input
Power
Feedback
And
Sensors

Analogue Part of System

Process
Output
Signal

Integrated Design Issues in Mechatronics

Ways of integration within mechatronics systems.