Introduction to Mechatronics

• Mechatronics is the synergistic integration of mechanical engineering, electronics engineering, control engineering, and computer science
• Mechatronics engineering deals with the design of computer-controlled electromechanical systems.
• In essence, a mechatronic system is a mechanical system controlled by a computer.

Mechatronics Components

• Mechatronics integrates:
  • Information systems
  • Computer systems,
  • Mechanical systems
  • Electrical systems

Mechatronics Key Elements

• Mechatronics is the sum of:
  • Simulation and modeling.
  • Automatic control
  • Optimization
• Includes electromechanical conversion using actuators and sensors
• Contains real-time interfacing with computer systems.

Modules of a Mechatronic System

• Sensing detects information via sensors, conditions the signal, and converts signals between analog and digital formats.
• Control uses open and closed loop control systems.
• Action involves drive circuits, actuators, and motors to produce physical movement.

Basic System

• A system takes an input and produces an output, exemplified by an electric heater that converts electric power into heat.
• Measurement systems convert an input quantity into a measured output, utilizing:
  • Sensors/transducers
  • Signal processors
  • Display/recording devices.

Control Systems

• Control systems consist of interconnected physical components that command, direct, or regulate themselves or another system.
• Examples include:
  • Cooling level control systems
  • Temperature and blood pressure regulation in the human body.
• Types of control systems:
  • Open loop
  • Closed loop (feedback)

Open Loop Control Systems

• Open loop systems don't use the output as a control variable.
• Key elements:
  • Amplifier
  • Controller

Closed Loop Control Systems

• Closed loop systems use a feedback loop to control the operation.
• Involve:
  • Comparison elements.
  • Controllers.
  • Correction elements (actuators)
  • Controlled plants that consider disturbances
  • Actual output measurements via a measuring unit.
• Real world example: Room heating with a thermostat

Open Loop vs Closed Loop

• Open loop systems:
  • Lack a feedback element and error detector.
  • Are stable, easy to construct, economical, and have small bandwidths.
  • Are inaccurate, require less maintenance and are unreliable.
• Closed loop systems:
  • Include feedback and error detection.
  • May become unstable.
  • Are complex, costly, and have large bandwidths.
  • Are accurate, require more maintenance, and are reliable.

Software and Hardware Integration

• Integration combines hardware (components) and software (information processing).
• Hardware integration designs the mechatronic system as a whole, integrating sensors, actuators, and microcomputers.
• Software integration relies on advanced control functions.

Mechatronics Classification

• Types:
  • Conventional mechatronic systems, based on classical mechanics and electromagnetics.
  • Micromechatronic systems
  • Nanomechatronic systems, based on quantum theory and nanoelectromechanics.

Mechatronic Design Process

• Includes stages of prototyping:
  • Modeling/Simulation
  • Deployment/Life cycle

Traditional vs Mechatronics Design

• Traditional design follows a sequential approach from system specification to control design.
• Mechatronics design adopts a parallel approach, integrating mechanical, electrical, and control design simultaneously.

Pick and Place Robot

• Pick and place robots transfer objects to desired locations.
• Configurations include:
  • Cylindrical
  • Spherical
  • Articulated
  • SCARA robots
• All robots are fixed with 3 vertical axes rotary arms

Component Parts of a Pick and Place Report

• Rover: The main body that works as a manipulator
• End Effector: The part that grips or handles the objects
• Actuators: The drivers of the robot, like servo or stepper motors, or pneumatic or hydraulic cylinders
• Sensors: Used to sense both internal and external conditions.
• Controller: Controls the actuators based on sensor feedback, and governs the motion of joints and end effectors.

Pick and Place Robot Movement

• A robot has three axes of motion, requiring these operations:
  • Clockwise and anti-clockwise rotation on its base.
  • Horizontal linear arm movement.
  • Vertical arm movement.
  • Gripper opening and closing.
• Pneumatic cylinders are used for these movements with solenoid valves and limit switches.
• Limit switches indicate when a motion is completed.
• Clockwise rotation comes from piston and cylinder extension, with counter-clockwise action achieved through retraction.