Department of Mechanical

Engineering

1
MCE527 – Introduction to Mechatronics

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 MCE527: Introduction to
Mechatronics

1. Mechatronics System Design

2. Sensors and Transducers

3. Programming Microcontrollers

4. Pneumatic and Hydraulic Systems

1 5. Electrical Actuation Systems

6. Introduction to CNC

7. Micro Electro Mechanical Systems (MEMS)

8. Very Large Scale Integration (VLSI) - Introduction

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 Mechatronics System Design
Topics
1. What is Mechatronics?
2. Integrated Design Issues in
Mechatronics
3. The Mechatronics Design
Process
4. Mechatronics Key Elements
5. Applications in Mechatronics
a. Drones – Hand-On
b. Robotics – Robotics Class
c. 3D Printing – Simulation Lab
d. Automobile ECU – KIA Motors

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 What is Mechatronics?

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 Mechatronics Systems
Synergetic Integration of Disciplines

Mechanics

Mechatronics

Electronics
Information
Technology

Bolu, 2011
MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders
 Mechatronics Systems
Synergetic Integration of Disciplines
Drive
Circuits

Digital to
Actuators
Analog

User Controller Mechanical

Interface (PC or MCU) Systems

Analog to
Sensors
Digital

Signal
Conditioning Jouaneh, 2013

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 What is Mechatronics?
Mechatronics Constituents

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 What is Mechatronics?
Mechatronics Key Elements

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 What is Mechatronics?
Mechatronics System Design is a metholodogy
used for the optimal design of electro-
mechanical products

The Mechatronics Design methodology is

based on a concurrent (instead of sequential)
approach to discipline, resulting in products
with more synergy

Note: A Mechatronics system is not an

electromechanical system but is more than a
control system
MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders
 What is Mechatronics?

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 Integrated Design Issues
Mechatronic design supports the concepts of concurrent
engineering (not sequential engineering approach)
Concurrent engineering is a design approach in which
design and manufacture of a product are merged in a special
way. High cost of manufacture are decided at the design
stage. Thus the integration of sensors and control systems
optimises capital expenses, flexibility and utilisation.
Concurrent engineering in Mechatronics relies heavily on
system modeling and simulation throughout the design and
prototyping stages.
Modeling uses visually intuitive environment such as block
diagrams, flow charts, state transition diagrams and bond
graphs.
Some Block diagram-based modeling and simulation
packages are: SIMULINK, SCICOS, MATRIXx, EASY5, Agilent
VEE, DASYLab, VisSim and LabVIEW.
MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders
 Integrated Design Issues
General Scheme of Hardware and Software Integration

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 Mechatronics Design Process
Features
Modeling – Block Diagrams, Visual interface
Simulation – Numeric methods for differential equations, etc
Project Management – Database for project information
Design – Numerical methods for unconstrained optimisation, etc
Analysis – Numerical methods for frequency, time, complex domain
design
Real-Time Interface – Hardware-in-the-loop or rapid prototyping
executed in real time
Code Generator – Produce high-level code usually in C
Embedded Processor Interface – embedded processor resides
in the final product – the full system prototype

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 Mechatronics Design Process
Mechatronics Design Process

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 Mechatronics Design Process
Different Configurations for Hardware-in-the-Loop Simulation

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 Mechatronics Design Process

Hardware-in-the-Loop

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 Mechatronics Key Elements
Information Systems
Consist of the following disciplines:
i. Communication System
ii. Signal Processing
iii. Control Systems
iv. Numerical Methods

Modeling and Simulation

Modeling is the process of representing the behaviour of real system be
a collection of mathematical equations and logic
Simulation is the process of solving the model

Optimisation
Used to establish the optimal configuration

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 Mechatronics Key Elements
Basic Blocks in Block Diagram Language Process

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 Mechatronics Key Elements
Mechanical Systems
Mechanical systems are concerned with the behaviour
of matter under the action of forces. The systems can be
rigid, deformable or fluid

Newtonian mechanics provide the basis for most

mechanical systems – space, time, mass and the force

Theory of Relativity – space, time and mass are no

longer independent

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 Mechatronics Key Elements

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 Mechatronics Key Elements
Mechanical Systems – Fundamental Laws
Parallelogram Law for addition of Forces: Two forces acting on a
particle may be replaced by a single resultant force obtained by
drawing the diagonal of the parallelogram with sides equal to each
of the two sides.
Principle of Transmissibility: The point of application of an external
force acting on a body (structure) may be transmitted anywhere
along the force’s of line of action without affecting the other forces
)reactions and loads) acting on that body. This means that there is
no net change in the static effect upon any body if the body is in
equi;ibrium.

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 Mechatronics Key Elements
Electrical Systems
Concerned with the following:
Charge
Current
Voltage (Potential)
Grouped as follows:
Power
Communication
Items found in Mechatronics Design
Motors and Generators
Sensors and Actuators (Transducers)
Solid State Devices including Computers
Circuits (signal conditioning, impedance matching etc)
Contact Devices (relays, circuit breakers, switches, fuses, etc)

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 Mechatronics Key Elements
Sensors
A Sensor is an element that produces an output in
response to changes in physical quantities (such as
temperature, force, or displacement).

The active element of some sensors is called a

transducer, which is part of the sensor that converts the
physical quantity (such as the force or displacement into an
equivalent electrical signal in the form of voltage or current)

The physical quantity changes a property of the

transducer (such as its resistance, inductance or magnetic
coupling). Through electronic circuits, these property
changes of the transducer are converted into a low-level
voltage or current electrical signals.
MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders
 Mechatronics Key Elements
An Actuator is a device that converts
energy to mechanical motion.

Types of Actuators:

Electric powered – pumps,

compressors, machine-tools, robots
Internal-combustion powered -
vehicles, boats, power generators
Pneumatic powered – pick and
place robots, air-powered tools
Hydraulic powered – lifts,
presses

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 Mechatronics Key Elements
Real Time Interfacing
This includes the following:

Analog to Digital Conversion (A/D)

Digital to Analog (A/D)

Analog Signal Conditioning Circuits

Sampling Theory

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Applications in Mechatronics
Condition Monitoring

The determination of the machine status or the

condition of a device and its change with time in
order to decide its condition at any given time.

The condition can be can be determined by

physical parameters such as wear, vibration,
noise, temperature, oil contamination, debris, etc

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Applications in Mechatronics
Sensor Distribution at Different Levels of Production
Condition Monitoring

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Applications in Mechatronics
Sensing Parameters in Automated Manufacturing-Examples
Condition Monitoring

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Applications in Mechatronics
Condition Monitoring System for Typical Production Systems
Condition Monitoring

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Applications in Mechatronics
Monitoring Systems in Machine Tools
Condition Monitoring

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Applications in Mechatronics
Monitoring On-Line

• Continuous quality inspection

of critical items eg in
aerospace

• 100% inspection

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Applications in Mechatronics
Model-Based Manufacturing

• Uses a set of modeling equations

and an estimation algorithm (such
as state observer) to estimate the
signal importance to the machine
performance

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Applications in Mechatronics
Model-Based Monitoring System

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Applications in Mechatronics
Mechatronic System with Open Architecture Platform

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Applications in Mechatronics
Framework for Integrating Heterogeneous Systems

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Applications in Mechatronics
Open Architecture with Mechatronics Models:
Speed and Complexity

Using MATLAB/SIMULINK
Autodesk Inventor
Solidworks
Pro/ENGINEER/Creo

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Applications in Mechatronics
SIMULINK Model of a Platform

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Applications in Mechatronics
Assembly Line Design Using CAD Models

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Applications in Mechatronics
Interactive Modeling
Simulation Verification of a Torque Load

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Applications in Mechatronics
Evaluating Trade Off
Evaluating Trade Offs in a CAD Environment

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Applications in Mechatronics
Embedded Sensors and Actuators
Intelligent Manufacturing System

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Applications in Mechatronics
Rapid Prototyping of a Mechatronic Product
Typical PC-Based Hardware-in-the-Loop Simulation

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Applications in Mechatronics
Optomechatronics
History of Optomechatronics

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Applications in Mechatronics
E-Manufacturing
a. Optically ignited Weapon System
b. Welding System with Monitoring & Control

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Applications in Mechatronics
E-Manufacturing
a. Human Guided Vehicle
b. Automatically Guided Robot
c. Mobile Robot for Cleaning

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

Mechatronics System Design
Review Questions
1. How is Mechatronics different from traditional
approach of designing? State the advantages of using
mechatronics design methodology
2. Understand the purpose of the following mechatronics
system and recommend appropriate sensor and
actuator to carry out the specified task
a. Temperature Control System: Purpose is to maintain the
temperature of a confined space at the specified temperature.
(Hint: Decide how to sense the temperature. Decide how to
increase or decrease temperature)
b. Anti-Lock Braking System: Purpose is to prevent wheels from
locking up by automatically modulating the brake pressure
during and emergency stop. (Hint: Decide how to sense that
the wheels are locked i.e. the wheels are not rolling. Decide
how to apply or release brakes)
MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders
 MechatronicsPractical
Practical
1. Pneumatic Systems - EIE Control
Laboratory

2. 3D Printing – Mechanical Simulation

Laboratory

3. Drones – Hands-On

4. Automobile ECU – Kia Motors

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders

 References
1. Shetty, D., Kolk, R. A., Mechatronics System Design,
SI Edition, Cengage Learning, 2011

2. Budynas, R., Nisbett, K., Shigley's Mechanical

Engineering Design , McGraw-Hill, 2010

MCE527 – Introduction to Mechatronics Raising A New Generation of Leaders