Beruflich Dokumente
Kultur Dokumente
EEE436
Definition of Mechatronics
Mechatronics basically
refers to mechanical
electronic systems and
normally described as a
synergistic combination of
mechanics, electrical,
electronics, computer and
control which, when
combined, make possible
the generation of simple,
more economic, and reliable
systems.
The term "mechatronics" was first assigned by Mr. Tetsuro Mori, a
senior engineer of the Japanese company Yaskawa, in 1969.
Control code
Sensing signal
Sensors
Microprocessor
or
Microcontroller
Parameter, variables
Mechanical
Command Signalcomponents
Actuator
Actuati
on
PLANT
(Robot, Autonomous Guided vehicle, Numerical Controlled Machine,
Vehicle engines, Consumer products, Conveyor systems, Assembly systems,
Cranes, Defense equipments, Air craft engines, Other machines,
consumer products, etc)
Robot
Robot examples
Robot sensors
Units to be Covered
Lectures,
Exercises,
Assignments ,
Projects and presentation
Assessment Methods:
Method
Quantity
(%)
Project
20
Midterm Exam(s)
40
Final Exam
40
A collection of Sensors
GPS
Linear Encoder
Camera
Gyroscope
Lever Switch
Sonar Ranging
Laser Rangefinder
Accelerometer
Piezo Bend
PIR
Rotary
Encoder
Resistive Bend
Pressure
Pyroelectric
Detector
Metal Detector
Pendulum Resistive
Tilt
UV Detector
Gas
Magnetometer
IR Modulator
Receiver
Microphone
Infrared Ranging
CDS Cell
Compass
Radiation
Analog
MUX.
S/H
ADC
uC
Sig
Cond3
Analog Output
Opamps circuit
ADC/DAC circuits
Wheatstone bridge
Sig
Cond
DAC
Types of motion
Freedom
Kinematic
chains, bar
chain links,
slider-crank
mechanism
Cams, gear
trains
Belt and chain
Fuel
drives,
bearings
w3 , 3
Position
L-3
PINION
w4 , 4
L-4
C
w2 , 2
L-2
RACK
L-1
1
x
Axis
Axis
Axis
(a)
(b)
(c)
Crank
Axis
Piston
(Slider)
Axis
Cylinder
Shaft
(d)
(e)
Electrical Actuation
Switching devices
Mechanical switches
Keyboards, limit
switches, switches
Relays
Solid-state switches
Diodes, thyristors,
transistors
On-Off
Solenoids
Push something
Starter solenoid,
pneumatic or hydraulic
valve
Drive systems
DC., AC., or stepper
motors
How to achieve speed
control
System Modeling:
Mathematical Modeling
Understand System
Function and Identify
Input/Output Variables
Draw Simplified Schematics
Using Basic Elements
Develop Mathematical Model
Ex:
Consider an open tank with a
constant cross-sectional area, A:
h
pC
gh + pr pCr = gh
qIN qOUT =
p&Cr =
pr
qIN
pC =
qOUT
C=
d
d
Volum
=
(
) ( Ah) = Ah&
dt
dt
gh&
System Response .
Dynamic response
Transient and steady state response
First and second order system
Frequency response system
y(t)
Mp
1%
1
0.5
td
tr
ts
t
s
PLC System
PLC system
PLC system
PLC programming
PLC Ladder and functional
block
Pc Board
Serial/paralell
GPIB
CAN BUS
Projects
Select one of the Mechatronic components and write , present and
submit your projects
Examples:
Sensors:
Robot sensor
Biomedical engineering sensors
PIC, 8051
PLC
.etc
DC motor speed control
Washing machine mechanism
...etc......
Starting of IM with PLC
Temperature measurement and display with 8051