Mechatronic System Design

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.

Mechatronic System Design

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Mechatronics

Mechatronics Key Elements

Mechatronic s Key Elements

Mechatronics Key Elements

Signals transmitted through the A/D and D/ A

Machine cell with robot

13. control valve- pneumatic gripper

Machine cell with robot

The Automobile as a Mechatronic System

Autonomous vehicle system design with sensors and actuators.

Mobile Actuator-Sensor Network

MASNET Experimental Platform

Base station makes

Vision system for

1st Prototype Photos

The Test Bed: Motes

Mote (MICA Board)

Hardware Configuration of the

Control Board (USU)

Software on Mobile Mote

Other Mechatronics Examples

Control System Generalised

Analogue Part of System

Integrated Design Issues in Mechatronics

Ways of integration within mechatronics systems.

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