Mechatronics

Introduction to Mechatronics

Department of Mechanical Engineering

GECK
 Introduction to Mechatronics

What is Mechatronics?

• The word mechatronics is composed of “mecha” from

mechanical and the “tronics” from electronics.

Mechanical + Electronics = Mechatronics

“Mecha” + “tronics” = Mechatronics

• The term “Mechatronics” was coined by Tetsuro Mori, a

senior Japanese engineer at Yasakawa Company in 1969.
 Introduction to Mechatronics

• Mechatronics is synergistic integration of mechanical

engineering, electronics engineering, control engineering and
computer science.

• Mechatronics engineering is the design of computer-

controlled electromechanical systems.

• A mechatronic system is a computer controlled mechanical

system.
Model of a Typical Mechatronic System

Action Control

Sensing the
environment

robotics.msa@gmail.com
 Modules of a Mechatronic System

1. Sensing
I. Sensors
II. Signal Conditioning
III. Analog-to-Digital and Digital-to-Analog Conversion

2. Control
I. Open Loop and Closed Loop Control

3. Action
I. Drive Circuits
II. Actuators
III. Motors
 Components of a Mechatronic System

• Mechanical

• Electronics

• Sensors

• Actuators

• Control

• Computing
 Introduction to Mechatronics

Evolution of automated systems:

1. Completely mechanical automatic systems (before and early
1900s)
2. Automatic devices with electronic components such as relays,
transistors, op-amps (early 1900s to 1970s)
3. Computer controlled automatic systems (1970s–present)
 Introduction to Mechatronics

• Early automatic control systems performed their automated

function solely through mechanical means.
• For instance, a water level regulator for a water tank uses a
float connected to a valve via a linkage.
• The desired water level in the tank is set by the adjustment of
the float height or the linkage arm length connecting it to the
valve.
• The float opens and closes the valve in order to maintain the
desired water level.
Cam operated Switch
 Introduction to Mechatronics

• A mechatronic system has at its core a mechanical system

which needs to be commanded or controlled by a controller.
• The controller needs information about the state of the
system. This information is obtained from sensors.
• In many cases, the signals produced by the sensors are not in
a form ready to be read by the controller and need some
signal conditioning operations performed on them.
• The conditioned, sensed signals are then converted to a digital
form by Analog-to-Digital Convertor (ADC) and are then sent
to the controller.
 Introduction to Mechatronics

• The controller is the ‘mind’ of the mechatronic system, which

processes user commands and sensed signals to generate
command signals to be sent to the actuators in the system.
Actuators are devices that can convert electrical energy to
mechanical energy
• The user commands are obtained from a variety of devices,
including command buttons, graphical user interfaces (GUIs),
touch screens, or pads.
 Introduction to Mechatronics

• In some cases, the command signals are sent to the actuators

without utilizing any feedback information from the sensors.
This is called open-loop system, and for it to work, this
requires a good calibration between the input and output of
the system.
• The more common mode of operation is the closed-loop
mode in which the command signals sent to the actuators
utilize the feedback information from the sensors. This mode
of operation does not require calibration information.
Open Loop System

Closed-Loop System
 Introduction to Mechatronics

• Every computer controlled system has four basic functional

blocks:
1. A process to be controlled
2. Sensors
3. Actuators
4. Controller
 Introduction to Mechatronics

• The analogy between a human controlled system and

computer control system is shown in figure.
• If a process is controlled and powered by a human operator,
the operator observes the behavior of the system (i.e. using
visual observation), then makes a decision regarding what
action to take, then using his muscular power takes a
particular control action.
• One could view the outcome of the decision making process
as a control or decision signal, and the action of the muscles
as the actuator signal which is the amplified version of the
control (or decision) signal.
 Introduction to Mechatronics

• The same functionalities of a control system can be

automated by use of a digital computer as shown in the
figure.
• The sensors replace the eyes, the actuators replace the
muscles, and the computer replaces the human brain.
• Every mechatronic system has some sensors to measure the
status of the process variables.
• The sensors are the “eyes” of a computer controlled system.
• Actuators are the “muscles” of a computer controlled system.
Vehicle Speed Control
 Examples of Mechatronic Systems

• Antilock Brake System (ABS)

• Electronic Fuel Injection (EFI)
• Traction Control System (TCS)
• Adaptive Cruise Control (ACC)
• Automatic Camera
• Scanner
• Hard Disk Drive
• Industrial Robots
• Mobile Robots (Wheeled Robots, Legged Robots)
Examples of Mechatronic Systems

Wheeled Robots
Examples of Mechatronic Systems

Aerial Robots
Examples of Mechatronic Systems

Legged Robots
Examples of Mechatronic Systems

Autonomous Cars
Examples of Mechatronic Systems

Hard Drives Underwater Robots

Examples of Mechatronic Systems

Industrial Robots
Difference between Open loop and Closed loop
system
SI.No. Open loop system Closed loop system

1 Not using feedback Feedback using

2 Less accurate More accurate

3 Simple in construction Complicated in construction

4 Optimisation in control is not possible Optimisation in control is possible

5 Easy maintenance & cost is less Difficult to maintain & cost is more

6 Eg. CD deck, Digital thermometer Eg. Automatic water level, washing

machine
Open Loop system
Closed loop system
Basic Elements of a closed loop system

1. Comparison element
2. Control element
3. Correction element
4. Process elements
5. Measurement elements
 Various elements for controlling the room
temperature.

Controlled variable - the room temperature

Reference value - the required room temperature
Comparison element - the person comparing the measured value wit required temp.
Error signal - difference between measured and required temperatures
Control unit - the person
Correction unit - the switch on the fire
Process unit - the heating by the fire
Measuring device - a thermometer
Shaft Speed Control
Water Level Controller
Washing machine control
Engine Management system
Automatic Camera
 Benefits of Mechatronic Systems

• Enhanced features and functionality

A mechanical design typically provides only one function.
Designing with a microcontroller offers the flexibility of
adding features like LCD displays, lighting LEDs, a user
interface, programmability, safety features, speed control etc.
Modern washing machines, for instance, offer many features
over the mechanical designs of old. These features include a
display that gives cycle information as well as providing a
stain removal guide. These machines use microcontrollers to
efficiently vary the speed of different cycles based on the
content being washed.

robotics.msa@gmail.com
 Benefits of Mechatronic Systems

• More user-friendly
Mechatronic systems are more user-friendly e.g. power door
locks, keyless entry, cruise control etc.
• Precision control
Flow rate, speed, position, and any number of other variables
can be controlled precisely with a microcontroller. Cruise
control in an automobile is a great example of how a
mechatronic solution allows for precise control. In order to
give the car a smooth acceleration to the desired speed as
well as maintaining a constant velocity over varying load
conditions.

robotics.msa@gmail.com
 Benefits of Mechatronic Systems

• More efficient
The efficiency of a system can be improved by adding
intelligence to the design. Certain portions of the system can
be shut-off when not in use or a microcontroller can make
better use of the energy available.
• Lower cost
A complex mechanical solution may be simplified using a
microcontroller-based approach. Design time, product size,
and reliability can all be improved with a mechatronic
solution.

robotics.msa@gmail.com
 Benefits of Mechatronic Systems

• Flexible design (reprogrammable)

Mechatronic systems are flexible and can be easily switched to
perform different jobs by simply changing the robot control
program. This procedure is called "reprogramming“.
• More reliable
Mechanical designs are prone to wear and tear over time.
For example mechanical odometers use a direct drive system
that consists of a flexible cable running from the transmission
to the odometer gage.
The solution is unreliable because the cable is prone to
failure. The modern mechatronic solution consists of an
optical encoder and digital display, which increases system
reliability.
robotics.msa@gmail.com
 Benefits of Mechatronic Systems

• Smaller size
Adding a microcontroller to a system may result in space
savings.
• Safer
Adding intelligence to a system makes it safer. Whether you
add an automatic shutdown to a coffee pot or sense when a
system is overheating, numerous safety checks can be easily
added to a system when a microcontroller is controlling the
system.

robotics.msa@gmail.com