Module 1
Introduction to Mechatronics
Fundamentals of Mechatronics (MH501)
Dr. Atul Thakur, Assistant Professor
Department of Mechanical Engineering
Indian Institute of Technology Patna
Autumn 2017
Module Objectives
After this module you will be able to
Explain the meaning of Mechatronics and its relevance in
engineering design
Know about various applications of mechatronics
Explain what is a system
Describe open loop and closed loop systems
Compare between traditional and mechatronics based design
approach
History
“Mechatronics” term coined by engineer Tetsura Mori in 1969 at
Yasakawa Electric Corp.
Upto 1980 mechatronics meant only combination of electronics and
mechanical engineering
Computing technology added later with development of computers
Bird’s Eye View of Mechatronics
Multidisciplinary
Electronics
Mechanical
Software
Control
Systems Design
Examples include, modern
automobiles, spacecrafts, marine
vessels, robots, factory automated Fig. Ref. : Rensselaer Polytechnic Institute
systems, etc.
Examples of Mechatronics Systems
A Document Scanner
Quiz : List the components of a document scanner and describe
how that works using neat sketches
Scanner Types
Sheetfed scanner
Flatbed scanner
Drum scanner
Handheld scanner
Flatbed Scanner
Components of Scanner
Scanner head
Fluorescent lamp
Transformer
CCD sensor
Mirror
Lens
Filters
Drive system
Stepper motor
Belt
Control circuitry
Interface ports
Components of Scanner – Contd.
Components of Scanner – Contd.
Charge Coupled Device (CCD)
Photons are converted into
electrons
Array of p-doped MOS
capacitors (pixels) sense light
High intensity leads to more
charge
CCD Array
Distribution of charge
represents image
Components of Scanner - Contd.
Stepper Motor and belt drive
Components of Scanner - Contd.
ADF USB
Transparency Adapter
SCSI
Interface Controller
Overall Working of Flatbed Scanner
http://www.xbitlabs.com
Parts of a Mechatronics System
Mechanical System
Moving parts like drives, pulleys, gears, mechanisms, etc.
Electronic and Electrical System
Microcontroller, analog-digital and digital-analog
converters, sensors, actuators, etc.
Information System
Software
User Interface
Typical Components of Mechatronics
System
Drive Circuits
Digital-Analog
Actuators
convertor
Mechanical
User Interface Controller
System
Analog-Digital
Sensors
Convertor
Signal
Conditioning
Some Other Examples of Mechatronic
Systems
Digital Camera
Autofocus
Engine Management System
Engine Management System
Parts of a Mechatronics System
Mechanical System
Moving parts like drives, pulleys, gears, mechanisms, etc.
Electronic and Electrical System
Microcontroller, analog-digital and digital-analog
converters, sensors, actuators, etc.
Information System
Software
Typical Components of Mechatronics
System
Drive Circuits
Digital-Analog
Actuators
convertor
Mechanical
User Interface Controller
System
Analog-Digital
Sensors
Convertor
Signal
Conditioning
System
A system can be thought as box or
block diagram
Having an input and corresponding
output We don’t care about
internal physics such as
Inputs and outputs of system important
grain structure of spring
not what goes inside the system
material or molecular
phenomenon
Input Output
Displacement Force
Spring Mass System
Output force = Spring Stiffness × Input Displacement
System : Room Illumination
Input Output
Switch position ON or OFF Glow or Darkness
Illumination System
Physical Components of Illumination
System
Rocker
Spring Pivot Filament
Contact Light bulb with inert gas
Power Load Terminal
Power System
Rocker Switch
Subsystems of Illumination System
Illumination System
Power
Switch Source Light Bulb
Input
Switch position Force Filament
Spring
Wire Output
Illumination
Contacts Chamber
Mechatronics System Example
Scanner Example Revisited
Input Output
Hard Copy Scanner Soft Copy
Subsystems of Scanner System
Scanner
Illumination
Drive System System
Input Output
Hard Copy Scanning Head Soft Copy
Character Interface
Recognition Device
Drive System (Mechanical)
Pulse
Stepper Motor Gearing System
Linear
Belt Drive Displacement of
Scanning Head
Scanning Head (Electronic and
Electrical)
Transformer CCD Sensor
Hard copy
Image
Interface Device Data
Power Pulse
LED Array Controller sequence
for moving
Drive
System
Control System
Control System
Image data Pulse
Microcontroller
Components of Mechatronics Systems
Mechanical System
Electrical System
Information System
Mechanical Systems and Analysis
Types of Systems
Rigid – Rigid Multibody Simulation
Deformable – Failure analysis, Finite Element Method (FEM)
Fluid – Computational Fluid Dynamics (CFD)
Some mechanical components used
Rigid - Gears, drives, cams, bearings, etc.
Flexible – Electroactive polymers, Shape memory alloys,
fiber reinforced material
Fluid - Hydraulic cylinder, pneumatic cylinder, etc.
Electrical Systems
Motors and generators
Sensors and actuators
Solid state devices
Circuits – signal conditioning, amplifiers, etc.
Contact devices – relays, switches. Circuit breakers, fuses,
etc.
Information System
Information System consist of four parts
Communication Systems
Signal Processing
Control System
Numerical Solvers for Optimization
Under Information System following activities are performed
Modeling
Simulation
Automatic Control
Optimization
Traditional Vs Mechatronics Based
Design
In traditional design individual subsystems were designed
sequentially•Concurrent design in mechatronics
•More compact and easily
Mechanical engineer designs mechanical elements
reprogrammable
After that•Electronics
control engineers designs
and mechanical parts control system
complement each other
In mechatronics, all and
•Most design subsystems are designed concurrently
error checking as
there is tight interaction
completed between the subsystems
using Simulation
Example of temperature control devices
Traditional bimetallic strip based design
Closed-Loop and Open Loop Systems
Open loop system look only it
its input to determine what it
should do
Input System Output
Open loop system
Closed loop system looks both
at its input as well as output to
determine what to do
Input +- System Output
Feedback
Closed loop system
Examples
Open Loop System
Control system of a microwave turns it off after set time
Does not look at temperature of food to “decide” turning off microwave
No feedback
Regulator of Ceiling Fan depends on electrical resistance in the circuit
No feedback RPM is received by the regulator
Closed Loop System
Temperature control system looks at the sensor readings of
surrounding temperature
If different than desired temperature takes action
Summary
System is an abstraction represented using box or block
diagram which has an input and corresponding output/s
Mechatronics ssytem has following subsystems
Electrical System
Mechanical System
Information System
Traditional design is sequential while mechatronics based
design is concurrent
Next Class
Electronics and electrical engineering fundamentals
Module Objectives
After this module you will be able to
Explain the meaning of Mechatronics and its relevance in
engineering design
Know about various applications of mechatronics
Explain what is a system
Describe open loop and closed loop systems
Compare between traditional and mechatronics based design
approach
Homework 1
Identify a mechtronics system in Mechanical Engineering
Workshop/Labs.
Discuss why it is mechatronics based
Make a system diagram and break it down to as many subsystems as
you can
Identify sensors and actuators and determine its technical
specifications
• Use internet, lab manuals, and reference books to find information
about components
• Date of submission August 10th, 2017 (during class)
