Mechatronics System Design - ME 432
Assist. Prof. Görkem Anıl Al
Department of Mechanical Engineering
What is mechatronics?
Mechatronics is an interdisciplinary field that combines
mechanical engineering, electronics, programming,
and systems design to create intelligent
and automated machines or products.
The term mechatronics was first assigned by Mr. Tetsuro Mori,
a senior engineer of the Japanese company Yaskawa, in 1969.
Source: The Integration of Advanced Mechatronic Systems into Industry 4.0 for Smart Manufacturing
Mechatronics System
• Mechatronics system composed of three essential components: sensors,
actuators, mechanical components and embedded computational units
(controllers, programming unit).
Mechatronics System (Robots, Cars, UAVs, Engines,
Machines…)
Sensors Sensing Embedded Computational
Working Variable Collect parameters/variables Signal Unit
(e.g. position, temperature, speed, Receives sensor inputs
Environment pressure) Process data and applies control logic
Send signals to controller Sensor signal filtering
Machine Learning
Command
Actuators Signal
Actuators move the mechanical
components (e.g. motors, gears,
Parameters valves)
from
the system
Example of Mechatronics System-1
• Boston dynamics robot dog (Spot), is this a mechatronics system?
• Sensors: cameras, LIDAR, IMUs, and force sensors
Example of Mechatronics System-2
• A computer disk drive, is this a mechatronics system?
• Mechanical part: Spindle, arm
• Electronics part: Circuit board, sensors (head position and disk speed)
• Control and computing: Actuator control system,
data encoding/decoding.
Example of Mechatronics System-3
• Washing machine
• Mechanical components: Drum, motor drive, pumps,
valves, bearing, suspension
• Electronics: sensors, Printed Circuit Board (PCB)
• Control and computing system: Washing programs
Source: [Link]
Example of Mechatronics System-4
• Electric toothbrush
• Mechanical components: Outer case, brush, crank gear system, motor shaft
• Electronics: PCB, battery, microcontroller
• Control and computing system: microcontroller program
for oscillation
Source: [Link]
Example of Mechatronics System-5
• 3D Printers
• Mechanical components: Frame, belt/leadscrew, print bed,
extruder mechanism, cooling fans, plastic case of the camera
• Electronics: Pi camera, motors, power supply, heaters,
temperature sensors, stop switches/proximity sensors
• Control computing system: microcontroller board,
Raspberry Pi
Source: In-situ measurement of extrusion width for fused filament fabrication process using vision and machine learning models
Course Units Overview
• Introduction to Mechatronics systems
• Actuating Systems | Hydraulic and Pneumatic Actuators (Simscape example)
• Actuating Systems | Mechanical Actuators
• Actuating Systems | Electrical Actuators
• Mechanical System Model (mass, spring, damper) (Matlab Exercise)
• System Modelling of Elements, Closed Loop Control-1
• Closed Loop Control-2
• Mid. Exam
• Sensors and Transducers (Project Start), Arduino Programming
• Signal Conditioning
• Microcontroller
• PLC Programming
• Project Handout
Course Logistics: Grading, OH, Source
• Midterm Exam: 25
• Final Exam: 35
• Project: 40
• Office Hours: Monday 14:00-15:30
• Source:
- Mechatronics: Electronic Control Systems in Mechanical and Electrical
Engineering 6th Edition
- D. Silva, W. Clarence, Mechatronics: An Integrated Approach
- R. H. Bishop, THE Mechatronics Handbook, CRC PRESS, 2002
Actuating Systems | Hydraulic and Pneumatic
Actuators
• Hydraulic/pneumatic power system
• Valve types
1. Pressure control
2. Flow control
3. Directional control
• Cylinders
• Functions
• Pneumatic Diagram Examples
• Calculations
• Industrial Application
Actuating Systems | Mechanical Actuators
• Mechanism
• Kinematic chains,
• Cams
• Gears
• Belt and pulley system
• Bearings
Actuating Systems | Electrical Actuators
• Switching devices
• Mechanical Switches (Relays)
• Solid state switches (diodes, thyristors, transistors)
• Solenoids
• Drive systems
• Motor types, e.g. DC, stepper motors
System Modeling and Dynamic response
• Mathematical Model
• Mechanical system building blocks
• Electrical System building blocks
• Rotary system blocks
• Fluid system building blocks
• Dynamic response
• System transfer function
• Frequency response
Closed Loop Control
• Closed loop control
• P, PI, PID Controllers
• Implementing Control modes
Sensors and Transducers | Arduino
• Sensor System
• Performance and terminology
• Sensor Types
• Potentiometer, Strain Gauge, capacitive, force, temperature, displacement,
position, proximity, optical
• Communication Types (I2C, SPI, etc.)
Signal Conditioning
• Signal amplification (opamp)
• Filtering opamp
• Zener Diode
• Filtering
• Analog Digital Coverter
• Kalman Filter
Microcontroller
• Microcontroller/Microprocessor system, architecture
• Ram
• Rom
• Flip-flop (data storages)
• I/O
• Oscillator
Programmable Logic Controller(PLC)
• PLC System
• Input/Output Units
• Ladder Programming
• Latching and relays
• Timer
• Counter
• Programming of mechatronic systems
Source: [Link]