Introduction to Mechatronics

Jr-Lung (Eddie) Lin

Department of Mechanical and Automation Engineering, I-Shuo University

Introduction

Mechatronics is synergistic integration of mechanical engineering, electronics and intelligent computer control in design and manufacture of products and processes

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What CAD/CAM/CAD

• CAD: Computer-Aided Design

• CAM: Computer-Aided

Manufacturing

• CAE: Computer-Aided Engineering

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CAD/CAM/CAE software

• CAD – 2D drafting– AutoCAD, TwinCAD, etc.

• CAD – Solid modeling– Solid Edge, SolidWorks, Mechanical Desktop(MDT), etc.

• CAM – SOLIDCAM, SURFCAM, MasterCAM, SmartCAM, etc.

• CAE– ANSYS, ABAQUS, NASTRAN, ADAMS, MOLDFLOW, etc.

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CPU

General-Purpose Micro-processor

RAM ROM I/O Port

TimerSerial COM Port

Data Bus

Address Bus

General-Purpose Microprocessor System

• CPU for Computers

• No RAM, ROM, I/O on CPU chip itself

• Example ： Intel’s x86, Motorola’s 680x0

Many chips on mother’s board

Microprocessor

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RAM ROM

I/O Port

TimerSerial COM Port

Microcontroller

CPU

• A smaller computer

• On-chip RAM, ROM, I/O ports...

• Example ： Motorola’s 6811, Intel’s 8051, Zilog’s Z8 and PIC 16X

A single chip

Microcontroller

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Microprocessor

• CPU is stand-alone, RAM, ROM, I/O, timer are separate

• designer can decide on the amount of ROM, RAM and I/O ports.

• expansive

• versatility

• general-purpose

Microcontroller

• CPU, RAM, ROM, I/O and timer are all on a single chip

• fix amount of on-chip ROM, RAM, I/O ports

• for applications in which cost, power and space are critical

• single-purpose

Microprocessor vs. Microcontroller

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PC Board

GPIB Serial/paralellCAN BUS

PC-based Measurement and Control

Sensors and Actuators

• Sensor

A device that converts an environmental condition into an electrical

signal.• Actuator

A device that converts a control signal (usually electrical) into

mechanical action (motion).

(Taken together, sensors, actuators, controllers, and power supply form

the basic elements of a control system.)

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Actuators-Motors

The Following Special Formulation is Offered

Mechatronics studies synergistic fusion of precise • mechatronical units,

• electronic,

• electro technical and computer components

for the purpose of designing and manufacturing qualitatively new

• modules,

• systems,

• machines and complexes of machines

with intellectual control of their functional movements

Comments to the Definition

• Mechatronics studies special conceptual approach to construction of machines.

• The definition emphasizes synergetic character of components’ integration in mechatronic objects.

• Integrated mechatronic components are always chosen at the designing stage.

• Methods of parallel designing serve as methodological basis for Mechatronic Systems (MS) development.

• The main objects that mechatronics studies are mechatronic modules.

• MS are intended to perform a set movement.

• In MS methods of advanced intelligent control are used to secure high quality in performing precise movements.

Principles of Construction MS

Generalized Scheme of Machine with Computer Control of

Movement The structure of a traditional machine

e.g.: cutting forces for machining processes, contact forces and moments of forces at assembly, reactive force of the liquid jet at hydraulic cutting

determ

non-determ

Examples of Mechatronic Systems

clothes washer

computer disk drive

Computer Control Device Basic Functions

• Control of mechanical movement process on-line with current sensor data analysis.

• Arrangements to control MS functional movements.

• Interaction with operator via human-machine interface off-line and on-line interaction at the moment of MS movement.

• Data exchange between peripheral devices, sensors and other devices of the system.

The Core of Mechatronic Approach

At the stage of designing one interface, as a separate device, is excluded out of a traditional structure, but physical essence of transformation carried out by this module is kept.

in other words

It consists in integrating of components probably of different physical nature into a uniform functional module.

Basic Advantages in Comparison with Traditional Means of Automation

• rather low cost;

• ability to perform complicated and precise movements (of high quality);

• high reliability, durability and noise immunity;

• constructive compactness of modules;

• improved overall dimension and dynamic characteristics of machines;

• opportunity to rebuild functional modules to sophisticated systems and complexes.

Modern Trends of MS Development

• Office equipment;

• Computer facilities;

• Photo and video equipment;

• Machine-tool construction and equipment for automation of technological processes;

• Robotics;

Modern Trends of MS Development

• Aviation, space and military techniques;

• Motor car constructor;

Modern Trends of MS Development

• Micro machines;

• Control and measuring devices and machines;

• Simulators for training of pilots and operators;

• Show-industry;

• Non-conventional vehicles.

Requirements of the World Market in the Considered Area

• Standard ISO 9000;

• Necessity for active introduction of forms and methods of international engineering and putting new technologies into practice;

• Increasing role of small and average industrial enterprises in economy owing to their ability to quick and flexible reaction to changing requirements of the market;

• Intellectualization of mechanical movement control systems and technological functions of modern machines.

Fundamental Problems

• Structural integration of mechanical, electronic and information departments into a uniform creative staff;

• Education and training of engineers specialized in mechatronics and managers able to organize integration and supervise work of strictly specialized experts with different qualifications;

• Integration of information technologies from various scientific and technical fields into a uniform toolkit to provide computer support of mechatronic problems;

• Standardization and unification of all used elements and processes at designing and manufacturing MS.

Levels of Mechatronic Systems’ Integration

The First Level

• conveyors,

• rotary tables,

• auxiliary manipulators

Levels of Mechatronic Systems’ Integration

• operated power machines (turbines and generators),• machine tools and industrial robots with numerical

program management

The Second Level

Levels of Mechatronic Systems’ Integration

Synthesis of new precise, information and measuring high technologies gives a basis for designing and producing intellectual mechatronic modules and systems.

The Third Level

Career Paths in Mechatronics

• mechatronics is seen as a prime career path for mechanical engineers of the future;

• mechanical engineers with a mechatronics background will have a better chance of becoming managers;

• classically trained mechanical engineers will run the risk of being left out of the interesting work.

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Robot Platforms (1)

Indoor Robots DLR Gripper NASA Mars Rover Asimo Humanoid

Outdoor Robots Robot Base Station KUKA Manipulator

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Robot Platforms (2)

Aibo 4 legged Robot

Robocup TeamQurio Humanoid

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Robot Platforms (3)

Robot educational kits

Robot sensors

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