Transcript Slide 1
Introduction to Mechatronics
Jr-Lung (Eddie) Lin
Department of Mechanical and Automation Engineering, I-Shuo University
Introduction
Mechatronics
is synergistic integration of mechanical engineering , electronics and intelligent computer control in design and manufacture of products and processes
What CAD/CAM/CAD
• CAD: Computer-Aided Design • CAM: Computer-Aided Manufacturing • CAE: Computer-Aided Engineering
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CAD/CAM/CAE software • CAD – 2D drafting – AutoCAD, TwinCAD, etc.
• CAD – Solid modeling – Solid Edge, SolidWorks, Mechanical Desktop(MDT), etc.
• CAM – SOLIDCAM, SURFCAM, MasterCAM, SmartCAM, etc.
• CAE – ANSYS, ABAQUS, NASTRAN, ADAMS, MOLDFLOW, etc.
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Microprocessor
• CPU for Computers • No RAM, ROM, I/O on CPU chip itself • Example ： Intel’s x86, Motorola’s 680x0 Many chips on mother’s board
Data Bus CPU
General Purpose Micro processor
RAM ROM Address Bus
General-Purpose Microprocessor System
I/O Port Timer Serial COM Port
Monday, April 27, 2020 Mahdi Hassanpour
Microcontroller
• A smaller computer • On-chip RAM, ROM, I/O ports...
• Example ： Motorola’s 6811, Intel’s 8051, Zilog’s Z8 and PIC 16X Monday, April 27, 2020
CPU RAM ROM I/O Port Timer Serial COM Port
A single chip Microcontroller Mahdi Hassanpour
Microprocessor vs. Microcontroller
Microprocessor
• CPU is stand-alone, RAM, ROM, I/O, timer are separate • designer can decide on the amount of ROM, RAM and I/O ports.
• expansive • versatility • general-purpose
Microcontroller
• CPU, RAM, ROM, I/O and timer are all on a single chip • fix amount of on-chip ROM, RAM, I/O ports • for applications in which cost, power and space are critical • single-purpos e Monday, April 27, 2020 Mahdi Hassanpour
PC-based Measurement and Control
PC Board GPIB Serial/paralell 9 CAN BUS
Sensors and Actuators
• •
Sensor
A device that converts an environmental condition into an electrical signal.
Actuator
A device that converts a control signal (usually electrical) into mechanical action (motion).
(Taken together, sensors, actuators, controllers, and power supply form the basic elements of a control system.)
Actuators-Motors
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The Following Special Formulation is Offered
Mechatronics
studies synergistic fusion of precise • mechatronical units, • electronic, • electro technical and computer components for the purpose of designing and manufacturing qualitatively new • modules, • systems, • machines and complexes of machines with intellectual control of their functional movements
Comments to the Definition • Mechatronics studies special conceptual approach to construction of machines.
• The definition emphasizes synergetic character of components’ integration in mechatronic objects.
• Integrated mechatronic components are always chosen at the designing stage.
• Methods of parallel designing serve as methodological basis for
M
echatronic
S
ystems (
MS
) development.
• • The main objects that mechatronics studies are mechatronic modules.
MS
are intended to perform a set movement.
• In
MS
methods of advanced intelligent control are used to secure high quality in performing precise movements.
Principles of Construction MS
Generalized Scheme of Machine with Computer Control of Movement
The structure of a traditional machine e.g.: cutting forces for machining processes, contact forces and moments of forces at assembly, reactive force of the liquid jet at hydraulic cutting determ non-determ
Examples of Mechatronic Systems
computer disk drive clothes washer
Computer Control Device Basic Functions • Control of mechanical movement process on-line with current sensor data analysis.
• Arrangements to control MS functional movements.
• Interaction with operator via human-machine interface off-line and on-line interaction at the moment of MS movement.
• Data exchange between peripheral devices, sensors and other devices of the system.
The Core of Mechatronic Approach It consists in integrating of components probably of different physical nature into a uniform functional module.
in other words At the stage of designing one interface, as a separate device, is excluded out of a traditional structure, but physical essence of transformation carried out by this module is kept.
Basic Advantages in Comparison with Traditional Means of Automation • rather low cost; • ability to perform complicated and precise movements (of high quality); • high reliability, durability and noise immunity; • constructive compactness of modules; • improved overall dimension and dynamic characteristics of machines; • opportunity to rebuild functional modules to sophisticated systems and complexes.
Modern Trends of MS Development
• Machine-tool construction and equipment for automation of technological processes; • Robotics; • Office equipment; • Computer facilities; • Photo and video equipment;
Modern Trends of MS Development
• Aviation, space and military techniques; • Motor car constructor;
Modern Trends of MS Development
• Micro machines; • Control and measuring devices and machines; • Simulators for training of pilots and operators; • Show-industry; • Non-conventional vehicles.
Requirements of the World Market in the Considered Area • Standard ISO 9000; • Necessity for active introduction of forms and methods of international engineering and putting new technologies into practice; • Increasing role of small and average industrial enterprises in economy owing to their ability to quick and flexible reaction to changing requirements of the market; • Intellectualization of mechanical movement control systems and technological functions of modern machines.
Fundamental Problems • Structural integration of mechanical, electronic and information departments into a uniform creative staff; • Education and training of engineers specialized in mechatronics and managers able to organize integration and supervise work of strictly specialized experts with different qualifications; • Integration of information technologies from various scientific and technical fields into a uniform toolkit to provide computer support of mechatronic problems; • Standardization and unification of all used elements and processes at designing and manufacturing MS.
Levels of Mechatronic Systems’ Integration The First Level
• conveyors, • rotary tables, • auxiliary manipulators
Levels of Mechatronic Systems’ Integration The Second Level
• • operated power machines (turbines and generators), machine tools and industrial robots with numerical program management
Levels of Mechatronic Systems’ Integration The Third Level
Synthesis of new precise, information and measuring high technologies gives a basis for designing and producing intellectual mechatronic modules and systems.
Career Paths in Mechatronics
• mechatronics is seen as a prime career path for mechanical engineers of the future; • mechanical engineers with a mechatronics background will have a better chance of becoming managers; • classically trained mechanical engineers will run the risk of being left out of the interesting work.
Robot Platforms (1)
Indoor Robots DLR Gripper NASA Mars Rover Asimo Humanoid Outdoor Robots Robot Base Station 28 KUKA Manipulator
Robot Platforms (2) Aibo 4 legged Robot Qurio Humanoid 29 Robocup Team
Robot Platforms (3) Robot educational kits Robot sensors 30