B.E.

(Mechatronics) - 2014-15

Category L T P Credit
14MTGB0 MECHATRONICS
GE 3 0 0 3
Preamble

Mechatronics is the synergistic combination of mechanical and electrical engineering, computer

science, and information technology, which includes the use of control systems as well as
numerical methods to design products with built-in intelligence.

The subject involves study of sensors, actuators, controlling mechanism/algorithm and common
Mechatronics applications. The students would be able to understand the synergistic
combination of all the aspects of Mechatronics which would be useful in developing a particular
application.

Prerequisite

Nil
Course Outcomes

On successful completion of the course, students will be able to

CO1 Describe the common sensors and actuators used in Understand

Mechatronic systems
CO2 Elucidate control mechanisms used in Mechatronic systems Understand
CO3 Develop PLC ladder programming and implementation of logics. Apply

CO4 Implement the concepts for particular application Apply

Mapping with Programme Outcomes

COs PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 P10 P11 P12
CO1 L M S S - - S - - M L S
CO2 L L S S - S - - - M L S
CO3 L S L M M M - - - L L M
CO4 L S L M L S M - - L L L
S- Strong; M-Medium; L-Low
Assessment Pattern

Continuous
Bloom’s Terminal
Assessment Tests
Category Examination
1 2 3
Remember 20 20 20 20
Understand 20 20 20 40
Apply 60 60 60 40
Analyse - - - -
Evaluate - - - -
Create - - - -

Approved in Board of Studies on 26.11.2016 Approved in 53rd Academic Council Meeting on 22.12.2016
 B.E. (Mechatronics) - 2014-15

Course Level Assessment Questions

Course Outcome 1 (CO1):

1. List the types of position sensors.
2. Explain the significance of Variable Reluctance sensor.
3. Elucidate the difference of RTD from Thermocouple.
4. Explain the different types of strain gauges.
5. Illustrate DC motor to be used an actuator.
Course Outcome 2(CO2):
1. Discuss about the steps to obtain a transfer function from a physical system.
2. List the advantages of PID controller.
3. Describe about the effect of step signal on first order systems.
4. Explain the time domain analysis of first order system.
Course Outcome 3 (CO3):
1.

Study the ladder logic program in the figure and answer the questions that follow:
a. State the purpose of interconnecting the two timers?
b. Calulate the time elapsed before output PL is energized?
c. List the two conditions must be satisfied for timer T4:2 to start timing
d. Assume that putput PL is ON and power to the system is lost. Consider power is restored,
predict the status of this output.
e. Assume input PB2 is ON, discuss the consequences.
f. Assume input PB1 is ON, Calculate the accumulated time elapsed before rung 3.
2. Write a program to implement the process illustrated in the following figure. The sequence of
process is to be as follows:

Approved in Board of Studies on 26.11.2016 Approved in 53rd Academic Council Meeting on 22.12.2016
 B.E. (Mechatronics) - 2014-15

a. Normally open and normally closed stop push buttons are used to start and stop the
process.
b. Assume the start button is pressed, solenoid A energizes to start filling the tank.
c. As the tank fills, the empty level sensor switch closes.
d. Consider the tank is full, the full level sensor switch closes.
e. Solenoid A is de energized.
f. The agitate motor starts and runs for 3 min to mix the liquid.
g. As the agitate motor stops, solenoid B is energized to empty the tank.
h. As the tank is completely empty, the empty sensor switch opens to de-energize solenoid B.
i. The start button is pressed to repeat the sequence.

Course Outcome 4 (CO4):

1. Design a floor mounted, 3 axes pick and place robot which has a payload of 4 kg and reach
of 1.5m. The robot main axis which has a length of 20cm can rotate from 0 to 280 degrees
clockwise and anticlockwise by a 12V DC motor. A link of length 8 cm is connected to the
main axis. It is connected to a gripper at the end, to pick. The link which moves along the
main axis and the gripper works by use of pneumatic cylinders operated by solenoid
controlled valves with limit switches. The solenoids of the pneumatic cylinders are controlled
by a microcontroller. Discuss the architecture of the design and control mechanism.
2. Design a car parking barrier system driven by a 24V DC motor controlled by a PLC. The car
IN side is controlled by a sensor, which detects the coin put and sends input to open the
barrier. Two solenoid operated pneumatic valves are controlled to pull up and lower the

Approved in Board of Studies on 26.11.2016 Approved in 53rd Academic Council Meeting on 22.12.2016
 B.E. (Mechatronics) - 2014-15

barrier. The car OUT side consists of the same arrangement which gets input from a camera,
which senses the number. Develop a suitable PLC control logic and design.
Concept Map

Syllabus

Introduction to Mechatronics: Introduction, Need, Traditional approach and Mechatronics

approach, Components-Electrical, Mechanical, Electronics systems, Software, Interfacing.
Examples.

Sensors: Position Sensors: - Potentiometer, LVDT, Encoders; Proximity sensors: - Optical,

Inductive, Capacitive; Motion Sensors: - Variable Reluctance; Temperature Sensor: RTD,
Thermocouples; Force / Pressure Sensors: - Strain gauges; Flow sensors: - Electromagnetic

Actuators: Mechanical Actuating Systems: Mechanical systems - Cams, Gears, Ratchet and
Pawl, Belt & chain drives. Electrical Actuating Systems - Solenoids, DC Motors, Servomotors,
Stepper motors. Pneumatics & Hydraulic Actuating Systems: Directional control valves,
pressure control valves, cylinder sequencing and cascade control, Pneumatics & Hydraulic
circuits

Control Systems: Transfer functions, Modelling of dynamic systems, First order and second
order systems, Performance measures, Effect of pole location on transient response, Closed
Loop Controllers: ON – OFF Control, P, I, D control and PID controllers.

Programmable Logic Controller: Introduction to PLCs, Basic structure of PLC, Principle of

operation, input and output processing, PLC programming language, ladder diagram, ladder
diagrams circuits, timer, counters, internal relays, selection of PLC for application.

Approved in Board of Studies on 26.11.2016 Approved in 53rd Academic Council Meeting on 22.12.2016
 B.E. (Mechatronics) - 2014-15

Applications: Bar Code Reader, Automatic Camera, Automatic Car Park system, Wind Screen
wiper motion, Engine management system, Antilock braking system (ABS) control, Pick and
Place Robot and Automatic Washing Machine.

Text Books

1. Richard C. Dorf, Robert H. Bishop, “Modern Control Systems” Twelfth Edition, Pearson
Education, 2014.
2. W. Bolton, “Mechatronics – Electronic control systems in Mechanical & Electrical
Engineering”, Pearson Education Ltd., 2003.
3. Shetty and Kolk, “Mechatronics System Design’, Cengage learning, India, second edition,
2011.
Reference Books

1. M.Gopal, “Control systems: Principles and Design”, Fourth edition, McGraw Hill education
Private Limited, 2014.
2. David M. Auslander, Carl J. Kempf,”Mechatronics: Mechanical System Interfacing”,
prientice hall, (1996).
Course Contents and Lecture Schedule

SI.No. Topic No. of Lectures

1 Introduction to Mechatronics

1.1 Introduction, Need, Traditional approach and Mechatronics

1
approach
1.2 Components-Electrical 1
1.3 Mechanical, Electronics systems 1
1.4 Software, Interfacing. Examples 1
2 Sensors
2.1 Position Sensors - Potentiometer, LVDT, Encoders 1
2.2 Proximity sensors - Optical, Inductive, Capacitive 1
2.3 Motion Sensors - Variable Reluctance 1
2.4 Temperature Sensor - RTD, Thermocouple 1
2.5 Force / Pressure Sensors - Strain gauges 1
2.6 Flow sensors: - Electromagnetic 1
3 Actuators

31 Mechanical systems - Cams, Gears, Ratchet and Pawl, Belt & 1

chain drives.
3.2 Electrical Actuating Systems - Solenoids, DC Motors, 1
Servomotors, Stepper motors.
3.3 Pneumatics & Hydraulic Systems - Directional control valves, 1
pressure control valves, Process control valves, ,
3.4 Cylinder sequencing and Cascade control 1

Approved in Board of Studies on 26.11.2016 Approved in 53rd Academic Council Meeting on 22.12.2016
 B.E. (Mechatronics) - 2014-15

SI.No. Topic No. of Lectures

3.5 Identifications of graphical symbols for Pneumatic and Hydraulic 1

circuits
4 Control Systems
4.1 Transfer functions, Mathematical model of physical system 1
4.2 Open loop and closed loop control 1
4.3 PID controllers 1
4.4 Time domain analysis 1
4.5 Modelling of dynamic systems 1
4.6 Effect of pole location on transient response 1
5 Programmable Logic Controller
5.1 Introduction to PLCs, Basic structure of PLC 1

5.2 Principle of operation, input and output processing, 1

5.3 PLC programming language, ladder diagram 1
5.4 Ladder diagrams circuits 1
5.5 Timer, Counters, Internal relays 1
5.6 Selection of PLC for application 1
6 Applications

6.1 Automatic Car parking system, Boat – Autopilot Coin counter 1

6.2 High-Speed Tilting trains, Automatic Car Park system 1

6.3 Engine management system, Antilock braking system (ABS) 1

control
6.4 Traffic controller and Automatic Washing Machine 1
Total Hours 39
Course Designers:

1. Mr T Vivek - [email protected]
2. Mr M.A Ganesh - [email protected]

Approved in Board of Studies on 26.11.2016 Approved in 53rd Academic Council Meeting on 22.12.2016