15FELE221
Introduction to Mechatronics
Chapter 1
Adapted from: Introduction to Mechatronics and Measurement Systems
Compiled By: Mohammad Zaki and Hania El-Kanj
1
What is Mechatronics?
Mechatronics is the synergistic combination of
mechanical engineering (“mecha” for mechanism,
electronics engineering (“tronics” for electronics),
control and computer/software engineering.
•Emphasis on integrated design of products
•Optimal combination of appropriate technologies
Integration + Compatibility
2
What is Mechatronics?
• It works on integrating different components probably of
different physical nature into a uniform functional module.
3
Advantages of a Mechatronics System
• lower cost
• ability to perform complicated and precise
movements (of high quality)
• high reliability, durability and noise immunity
• constructive compactness of modules (integration)
• improved overall dimension and dynamic
characteristics of machines (integration)
• opportunity to rebuild functional modules to
sophisticated systems and complexes (updated versions)
4
Elements of a Mechatronics System
• Electronics System
• Sensors and Measurement Devices
• Mechanical System
• Actuators and drivers
• Control and Computer/Software System
• Microcontrollers
• Programming
5
Elements of a Mechatronics System
Chapter 1
Chapter 8
Chapter 10 Chapter 9
Chapter 8 Chapter 11
Chapters 6 and 7
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Elements of a Mechatronics System
7
Elements of a Mechatronics System
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Sensors
• Sensor: An input device that converts an environmental condition
(physical measurement) into an electrical signal (output).
• Examples of sensors include:
• Temperature Sensor
• Proximity Sensor/Position Sensor (detects the presence of obstacles through
electromagnetics waves)
• Accelerometer
• IR Sensor (Infrared Sensor/Motion Sensor) (detects the motion through IR RX and
TX)
• Pressure Sensor
• Light Sensor
• Ultrasonic Sensor/Position Sensor (detects distance through ultrasonic waves)
• Smoke, Gas and Alcohol Sensor
• Touch Sensor
• Color Sensor
• Humidity Sensor
• Tilt Sensor (measures angles of tilt)
• Flow and Level Sensor
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Sensors
10
Actuators
• Actuator: A device that converts a control signal
(usually electrical) into a mechanical action
(motion/movement).
• Examples of actuators include:
• Electric motors
• Solenoids
• Hard drive stepper motors
• Comb drives
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Actuators: Motors
12
Microprocessor
• Also know as the central processing unit (brain) of the computer CPU
• No RAM, ROM, I/O on CPU chip itself
• Example：Intel’s x86, Motorola’s 680x0
Many chips on motherboard
Data Bus
CPU
General-
Serial
Purpose RAM ROM I/O Timer COM
Micro- Port
Port
processor
Address Bus
General-Purpose Microprocessor System
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Microcontroller
• A smaller computer
• On-chip RAM, ROM, I/O ports...
• Example：Motorola’s 6811, Intel’s 8051, Zilog’s Z8 and PIC 16X
CPU RAM ROM
A single chip
Serial
I/O Timer COM
Port
Port
Microcontroller
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Microprocessor vs. Microcontroller
Microprocessor Microcontroller
• CPU is stand-alone, while • CPU, RAM, ROM, I/O and
RAM, ROM, I/O, timer are timer are all on a single
separate chip
• designer can decide on • fixed amount of on-chip
the amount of ROM, ROM, RAM, I/O ports
RAM and I/O ports. • for applications in which
• expensive cost, power and space
• versatile are critical
• general-purpose • single-purpose
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What is CAD/CAM/CAE?
• CAD: Computer-Aided Design (AutoCAD)
• CAM: Computer-Aided Manufacturing
(AutoCAD)
• CAE: Computer-Aided Engineering
(includes both CAD and CAM)
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Examples of Mechatronics Systems
Computers
Cars
Tools
Consumer Stealth Bomber
Electronics
High Speed Trains
MEMS
Micro electro-
mechanical
Micro to Macro
systems Applications 17
Mechatronics Applications
• Manufacturing
• Transportation
• Smart Robotics
• Space Exploration
• Medical
• Defence
• Sanitation
• Sports
• Smart Home
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Manufacturing Applications
• Micro Factory
• CNC Machining
• CNC Bending Machine
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Micro Factory
Micro Factory Drilling Unit
•Desktop sized Factory
•Build small parts with a small factory
•Greatly reduces space, energy, and
materials
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CNC Machining
Advantages
•Deliver the highest accuracies
•Can create very complex shapes
CNC➔Computer Numerical Control 21
CNC Bending Machine
•Fully automated bending: load sheet
metal and the finished bent parts
come out
•Can bend complex shapes
22
Transportation Applications
•Automobiles
•Door System/Module
•Seat System/Module
•High Speed Trains
•Segway
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Automobiles
Typical Applications
•Brake-By-Wire system (Electric Brake)
•Steer-By-Wire (Electric Steering)
•Integrated vehicle dynamics
•Camless engines (Electric Valve
Control)
•Integrated starter alternator
OEM Driven (Original Equipment Manufacturer)
•Reliability
•Reduced weight
•Fuel economy
•Manufacturing flexibility
•Design freedom
•Advanced safety features
•Cost 24
Door System/Module
Controller area network
25
Seat System/Module
Seat Harness Architecture showing various smart
connector interconnections solutions
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High Speed Trains
•Train position and velocity
constantly monitored from main
command center.
•Error margin in scheduling no
more than 30 seconds
•Fastest trains use magnetic
JR-Maglev
levitation (by support of magnetic Top Speed: 574 km/h (357 mph)
field) Country: Japan
Magnetic Levitation
Transrapid
Top Speed: 550 km/h (340 mph)
Country: German 27
Segway
System Uses:
•Tilt and pressure sensors
•Microcontroller
•Motors
•Onboard power source
Advantages
•Simple and intuitive
personal transportation
device
28
Smart Robotics Application
•BigDog
•Cleaning Machine
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BigDog
System Can:
•Carry 340 lb Advantages
•Run 4 mph •Robot with rough-terrain mobility that could carry
•Climb, run, and walk equipment to remote location.
•Move over rough terrain 30
Cleaning Machine Vacuum Floors
•Robots can vacuum floors and clean
gutters so you don't have to.
Cleans Gutter
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Space Exploration Application
•Phoenix Mars Lander's
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Phoenix Mars Lander's
System Can
•Collect specimens
•Has automated
onboard lab for
testing specimens
Advantages
•Robot that can travel to other
planets and take
measurements automatically.
33
Medical Applications
•Prosthetics
•Pace Maker
•Implantable Defibrillation
34
Prosthetics
•Arms, Legs, and other
body parts can be replaced
with electromechanical
ones.
35
Pace Maker
•Used by patients with slow or erratic heart rates. The
pacemaker will set a normal heart rate when it sees an
irregular heart rhythm.
36
Implantable Defibrillation
•Monitors the heart. If heart fibrillates or stops
completely it will shock the heart at high
voltage to restore a normal heart rhythm.
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Defense Applications
•Unmanned Aerial Vehicle
•Stealth Bomber
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Unmanned Aerial Vehicle
•Advanced technology is making soldiers
safer.
•Some planes can now be flown remotely.
39
Stealth Bomber
The stealth bomber is
an aircraft featuring low
observable stealth
technology designed for
penetrating dense anti-
aircraft defences;
deploying conventional
and thermonuclear
weapons. 40
Sanitation Applications
•Proximity Sensing Faucets
•Soap Dispenser
•Paper towel dispenser
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Proximity Sensing Faucets
System Uses
•Proximity sensors (Position Sensor)
•Control circuitry
•Electromechanical valves
•Independent power source
Advantages
•Reduces spread of germs by making device
hands free
•Reduces wasted water by automatically
turning off when not in use 42
Soap Dispenser
Systems Uses
•Motion sensors (Infrared Sensor)
•Control circuitry
•Electromechanical
actuators
•Independent power source
43
Paper Towel Dispenser
Advantages
•Reduces spread of germs
by making device hands free
•Reduces wasted materials
by controlling how much is
dispensed
44
Sports Applications
•Running Shoes
45
Running Shoes
Advantages
•Automatically changes
cushioning in shoe for
different running styles
and conditions for
improved
comfort
46
Smart Home Applications
•Washing Machine
•Smoke Detector System
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Washing Machine
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Smoke Detector System
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Robot Platforms (1)
Indoor Robots DLR Gripper NASA Mars Rover Asimo Humanoid
Outdoor Robots Robot Base Station KUKA Manipulator
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Robot Platforms (2)
Robot educational kits
Robot sensors
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Computing Platform
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