MechatronicsIntel Mach Engr
MechatronicsIntel Mach Engr ME 4370
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Terrence Terry II
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This 7 page Class Notes was uploaded by Rogers Gulgowski DVM on Wednesday October 21, 2015. The Class Notes belongs to ME 4370 at Tennessee Tech University taught by Stephen Canfield in Fall. Since its upload, it has received 69 views. For similar materials see /class/225733/me-4370-tennessee-tech-university in Mechanical Engineering at Tennessee Tech University.
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Date Created: 10/21/15
Overview of Mecnatronic Systems Contents t tnttoductton to Mecnattontcs 2 tagtammattc vteW of a Mecnattontc system 3 Exampte of a Mecnattontc system 4 Genetat Destgn process 1 Introduction to Mecnatronics Mecnattontcs ts dettned as tne tnterdt ctphnary ttetd of engtneettng tnat deats wttn tne destgn of products Wnose mnctton tettes on tne tntegta ton o mecnantcat etectncat and etecttontc components connected by a conttot scneme Examptes ttgutet Mechahumcdevtces7 What do these devtces have tn COWWOH nattontc devtce ts one tnat ts apteto percetvethe Surroundtng envtronmem make apptopnate dectstons based on tnat tnformatton and execute tnose dectstons take actton meiwz the P2 environment Egt Make Decisions E Take Action Figuve 2 2 Diagram of a Mechatronic Sstem Measurement Slgnal Jiiters VATD Or PM ramphfiers 2M Conmller MCU or other tc tw ete Output Signal Interface 7 amphfy puwer uf signais r eunemun r Cunmms eentmi aigur itnm deeisiu making eentmi ineuryete Data Storage Retr val Figuve 3 Diagvam u a Meenatmme System n oitput Display 7 iees an buzzer Figure 3 provides insight into the design process for a mechatronic M system 1 Select elements in each ofthe areas 2 ModelAnalyzecharacterize behavior ofthe elements 3 Account for interactions between modules One technique to represent and model an M system is as a block diagram Block diagrams range from symbolic to mathematic in representation Block diagrams serve as a starting point in the design ofthe system They also serve as tools to build mathematical models that can simulate the behavior ofthe system Simulink Matlab is a tool that was specifically created to simulate such systems in block diagram form First consider a general M system in symbolic block diagram form 1 Open loop system Input Output 39 controller H actuator Plant gt Figure 4 Open loop block diagram 2 Closedloop system l Controller Desired i behavio f f Control Operational ou nu compare I I logic controller 09 A Desired This represents a general representation for the class of M systems Now consider a speci c instance ofthis class for example a four degreeoffreedom SCARA robot Actual output Figure 5 closedloop block diagram Feedback 3 Example of a Mechatronic System The SCARA Manipulator The SCARA manipulator can be represented in the following block diagram form Controller Output behavior l unevuci pl Driver1 l pl Motor1 H Joint 1 l Desire d Forward Inverse behav or Kinematics Path Planning velocity kins quotT a 5 i A u uqu 3 9 2 PID ctrl il DriverZ Motor2 H Joint 2 E A A Tool pose wae 2 9 O PID ctrl D Driver 3 l bl Motor 3 l pl Joint 3 V This provides a representation ofthe SCARA at an early stage ofthe design PID ctrl D Driver4 l bl Motor4 H Joint 4 i I J Figure 6 Block diagram for a SCARA robot l u uqu process Discuss the information that exists in this block diagram What information is not here 4 Design Process Evolution ofa Mechatronic System The general steps in the design process of developing a Mechatronic system will be demonstrated here This process will start with a form ofthe system a SCARA robot 1 Develop a highlevel diagram ofthe necessary system components Much like figure 6 above this will show actuators sensors controller mechanical system and their relationship Figure 7 gives an example for 1 dof ofthe SCARA manipulator c mr uer PID ctrl gt Driver1 l pl Motor1 l pl Joint 1 l 1 Desired e 1 autaut T E cvdm J Desire d Forward Inverse behav or gt Kinematics Path Planning velocity kins Figure 7 Block diagram for a SCARA robot 2 Specify each ofthese elements in greater detail Select specific components for each This stage requires 1 knowledge ofthe necessary requirements for each block 2 knowledge of various Commercialofftheshelf COTS components that are available 3 Input and output requirements for each As these decisions are made the mechatronic system can be represented in greater detail in the block diagram This is shown in Fig 8 forthe SCARA Motor 1 Gear train Maxon DC 504 3 2260885 stage 73216 nlanetarv ontroller MHCIZ 513 Forward Inverse Inferface 00 PPR Kinematics Path HPCTL p cal Inc Joint 1 Planning velocity kins 2020 16 quotcoder Revolute counter HEDS 500 b t Figure 8 Block diagram for a SCARA robot showing component selection 3 At this stage in the design process interaction of the various components should be considered This consideration should include 1 input and output types a AnalogDC b Incremental absolute c etc 2 Power requirements 3 Impedence 4 Signal power Figure 9 shows in a general form how the block elements communicate with each other MHCIZ Driver 1 Motor 1 Gear train MC 50A8t Maxon DC 501 3 bested 91 2260885 stage OLIme 73216 nlanetarv D 39 d bigor Forward Inverse Irmaface 00 PPR J 1 Kinematics Path HPCTL ptical Inc mm Planning velocity kins 2020 16 quotcoder Revolute counter HEDS 500 b t Figure 9 Block diagram for a SCARA robot showing component interaction 4 As the design process progresses the behavior ofthe system should be modeled for analysis and simulation purposes This can be used to 1 Design controller 2 Determine motor requirements 3 Determine power requirements 4 Evaluate system performance 5 Determine driver requirements 6 etc A system model is developed based on inserting specific models for the various block elements into the block diagram This process is shown in Fig 10 for one axis ofthe SCARA manipulator Controller Vquot f vpow I T 9dof 9 e M Ja6R2Jgsc Pm Kb 4 1 Figure 10 System model for one axis of the SCARA In the block diagram these are shown in Laplace or s space Remember that this is a handy technique to represent differential equations as algebraic equations More on this later 5 Complete the design ofthe elements in the system Mechanical electrical controller code Update the system framework as necessary 6 Develop system prototype for testing evaluation purposes This stage will show how well you have prepared your system design A good designer will expect a few aws to show up in the design during the testing process However at this stage it is far more expensive to x major designanalysis errors than any other point That is not completely true it is even more expensive to x an error after the product is sent to market 5 Summary This outline has provided a brief introduction to mechatronic systems and the general design process Every mechatronic product is unique in function and form Yet they all share a common structure when viewed in component function form Fig 3 The design process then involvesthe selection design and integration ofthe elements that form these parts ofthe mechatronic system The
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