Beruflich Dokumente
Kultur Dokumente
ME407
MECHATRONICS
SUKESH O P
Assistant Professor
Dept. of Mechanical Engineering
JECC
Course Objectives:
To introduce the features of various sensors used in CNC machines and
robots
To study the fabrication and functioning of MEMS pressure and inertial
sensors
To enable development of hydraulic/pneumatic circuit and PLC
programs for simple applications
Expected outcome:
The students will be able to
i. Know the mechanical systems used in mechatronics ii. Integrate
mechanical, electronics, control and computer engineering in the
design of mechatronics systems
Expected outcome:
The students will be able to
i. Know the mechanical systems used in mechatronics ii. Integrate
mechanical, electronics, control and computer engineering in the
design of mechatronics systems
Hydraulic Actuators
Pneumatic actuators
Mechanical Actuators
Electrical Actuators
Movement
Movementwhich
whichcan
canbe be Rotation
Rotationwhich
whichhas
has
resolved
resolvedinto
intocomponents
components components
componentsrotating
rotatingabout
about
along
alongone
oneor
ormore
more of
ofthe
SUKESH O P/ 3
the APME/ME407-
3 one
oneor
ormore
MR-2018 moreofofthe
theaxes.
axes.
SUKESH O P/ APME/ME407- MR-2018
SUKESH O P/ APME/ME407- MR-2018
Each part of a mechanism which has motion relative to some
other part is termed a link.
A rigid body which has two or more points of attachment to other
links is termed nodes.
Each link is capable of moving relative to its neighboring links.
A joint is a connection between the connected links at their nodes
and which allows some motion between the connected links.
Levers, cranks, connecting rods and pistons, sliders, pulleys, belts
and shafts are all examples of links.
Part
Part that
that lowers
lowers the the
follower,
follower, itsits profile
profile Part
Part that
that drives
drives thethe
determining
determining how
how follower
follower upwards,
upwards, its its
quickly
quickly the the cam cam profile
profile determining
determining
follower
followerwill
willfall.
fall. how
how quickly
quickly thethe cam
cam
follower
followerwill
willlifted.
lifted.
Part
Part that
that allows
allows thethe
follower
follower to
to remain
remain at at
the
the same
same lever
lever for
for aa
significant
significant period
period of of
time
time andand where
where its its
circular
circular with radius SUKESH O P/ APME/ME407- MR-2018
with aa radius
that does not change.
The cam shape required to produce a particular motion of the
follower will depend on the shape of the cam and the type of
follower used.
Displacement
SUKESH O P/ diagram for an
APME/ME407- eccentric cam
MR-2018
Figure below shows the types of follower displacement diagrams
that can be produced with two other different shaped cams and
either point or knife followers.
(constant
(constantrate,
rate,
Heart
Heart uniform
uniformspeed)
speed)
shape
shape
(rise
(riseand
andfall
fall
Pear
Pear
symmetrically)
symmetrically)
shape
shape
SUKESH O P/ APME/ME407- MR-2018
Figure below shows a number of examples of different types of
cam followers.
Point Knife Roller
Lower
Lower friction
friction than
than
sliding
sliding contact
contact butbut
can
can be
be more
more
expensive
expensive
SUKESH O P/ APME/ME407- MR-2018
Figure below shows a number of examples of different types of
cam followers.
Sliding and oscillating Flat Mushroom
Often
Often used
used
because
because ––
cheaper
cheaper andand can
can
be
be made
made smaller
smaller
than
than roller
roller
SUKESH O P/ APME/ME407- MR-2018
follower.
follower.
Gear trains are mechanisms which are very widely used to
transfer and transform rotational motion. They are used when a
change in speed or torque of a rotating device is needed. For
example, the car gearbox enables the driver to match the speed
and torque requirements of the terrain with the engine power
available.
(a) Parallel gear axes, (b) axes inclined to one another, (c) axial teeth,
SUKESH O P/ APME/ME407- MR-2018
(d) helical teeth, (e) double helical teeth
Two meshed gears.
Gear ratio,
ωωAA == number
numberof
ofteeth
teethon
onBB == ddBB
ωωBB number
numberof
ofteeth
teethon
onAA ddAA
ωC
ωC ωB
ωB ωC
ωC
SUKESH O P/ APME/ME407- MR-2018
Compound gears trains – two wheels are mounted on a common
shaft.
For the input and output shafts to be in line, we must also have for the
radii of the gears.
rA ++ rB
rA rB == rD
rD ++ rC
rC
SUKESH O P/ APME/ME407- MR-2018
Revolution Time
vv == nL
nL // tt == fL
fL
SUKESH O P/ APME/ME407- MR-2018
Distance moved parallel to the screw axis
Pair of rolling cylinders with the motion of one cylinder being transferred to
the other by a belt.
Belt drives use the friction that develops between the pulleys attached to
the shaft and the belt around the arc of contact in order to transmit a
torque.
The transmitted torque is due to the differences in tension that occur in the
belt during operation. This difference results in a tight side and a slack side
for the belt.
Torque
Torque on
on AA == (T1
(T1 –– T2)
T2) rA
rA
Pulley B as a driver,
Torque
Torque on
on BB == (T1
(T1 –– T2)
T2) rB
rB
Since the power transmitted is the produce of the torque and the angular
velocity, and since the angular velocity is v/rA for pulley A and v/rB for
pulley B, then for either pulley we have
Power
Power == (T1(T1 ––
T2)
SUKESH O P/v
T2) v
APME/ME407- MR-2018
As a method of transmitting power between two shafts, belt drives have
the advantage that the length of the belt can easily be adjusted to suit a
wide range of shaft to shaft distance and the system is automatically
protected against overload because slipping occurs if the loading exceeds
the maximum tension that can be sustained by frictional forces.
If the distance between shafts is large, a belt drive is more suitable than
gears, but over small distances gears are to be preferred.
Different size pulleys can be used to give a gearing effect. However, the
gear ratio is limited to about 3 because of the need to maintain an
adequate arc of contact between the belt and pulleys.
Cross belt
Open belt
SUKESH O P/ APME/ME407- MR-2018
SUKESH O P/ APME/ME407- MR-2018
V
V – belts are used with grooved pulleys and are less efficient that flat belts
but a number of them can be used on a single wheel and so give multiple
drive.
Timing.
Require toothed wheels, having teeth which fit into the grooves on the
wheel.
Unlike the other belts, timing belt does not stretch or slip and consequently
transmits power at a constant angular velocity ratio.
The teeth make it possible for the belt to be run at slow or fast speeds.
d)
d)double-row
double-row
e)
e)Self-aligning
Self-aligning
e)
e)Thrust,
Thrust,grooved
grooved
race
race
Hydraulics uses incompresible liquids so the applied pressure from one end
(small arrow) is equal to the desired pressure on the other end (big arrow).
SUKESH O P/ APME/ME407- MR-2018
SUKESH O P/ APME/ME407- MR-2018 10/16/18
Hydraulics
47
3. hydraulic motor/cylinder
The liquid discharged by the pump is directed to hydraulic motors or
cylinders by control valves.
Motors are used where rotory motion is desired and cylinders are
used where linear motion is necessary.
2. The hydraulic pump is used to force the fluid from the reservoir to
rest of the
hydraulic circuit by converting mechanical energy into hydraulic
energy.
3. Valves are used to control the direction, pressure and flow rate of a
fluid flowing
through the circuit.
4. External power supply (motor) is required to drive the pump.
5. Reservoir is used to hold the hydraulic liquid, usually hydraulic oil.
6. Piping system carries the hydraulic oil from one place to another.
7. Filters are used to remove any foreign particles so as keep the fluid
system clean and
efficient, as well as avoid damage to the actuator and valves.
8. Pressure regulator regulates (i.e., maintains) the required level of
pressure in the
hydraulic fluid.
- Economic
- Reliable
- High operation speed
- Operation at constant force
- Resistant to overloads
- No speed control
- Poor position speed
- Noisy operation
SUKESH O P/ APME/ME407- MR-2018
Comparison between Hydraulic and Pneumatic system
61 S.
No.
Hydraulic System Pneumatic System
1. It employs a pressurized liquid as a It employs a compressed gas,
fluid usually air, as a fluid
2. An oil hydraulic system operates at A pneumatic system usually
pressures up to 700 bar operates at 5–10 bar
3. Generally designed as closed system Usually designed as open system
4. The system slows down when leakage Leakage does not affect the system
occurs much
5. Valve operations are difficult Valve operations are easy
6. Heavier in weight Lighter in weight
7. Pumps are used to provide Compressors are used to provide
pressurized liquids compressed gases
8. The system is unsafe to fire hazards The system is free from fire
hazards
9. Automatic lubrication is provided Special arrangements for
lubrication are needed
SUKESH O P/ APME/ME407- MR-2018
SUKESH O P/ APME/ME407- MR-2018 10/16/18
HYDRAULIC ACTUATOR
62
ASSIGNMENT QUESTION
HYDRAULICS & PNEUMATICS: :
Gear motor
Vane motor
Piston motor
Turbine motors
Gerotor type motors
(Normally Closed)
(Normally opened)
(Normally Closed)