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WINTER– 18 EXAMINATION
Subject Name: Mechatronics Model Answer Subject Code: 17660
Important Instructions to examiners:
1) The answers should be examined by key words and not as word-to-word as given in the model answer
scheme.
2) The model answer and the answer written by candidate may vary but the examiner may try to assess the
understanding level of the candidate.
3) The language errors such as grammatical, spelling errors should not be given more Importance (Not
applicable for subject English and Communication Skills.
4) While assessing figures, examiner may give credit for principal components indicated in the figure. The
figures drawn by candidate and model answer may vary. The examiner may give credit for any equivalent
figure drawn.
5) Credits may be given step wise for numerical problems. In some cases, the assumed constant values
may vary and there may be some difference in the candidate’s answers and model answer.
6) In case of some questions credit may be given by judgement on part of examiner of relevant answer
based on candidate’s understanding.
7) For programming language papers, credit may be given to any other program based on equivalent
concept.

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Q. Su Answer Marking
No b Scheme
. Q.
N.
Q A Attempt any three of the following: 12
1
i) State and elaborate the importance of mechatronics in various field of engineering.

i) Ans:- State – 1 mks,

importance- 3
Mechatronics is the synergistic integration of mechanical engineering with mks
electronics
and intelligent computer control in designing, manufacturing processes and
production.

It helps to develop automized , reliable and efficient in manufacturing/production

systems to produce high quality products.

Importance of Mechatronics in various engineering fields:

Mechanical System:
These system deal with behaviour of matter under the action of forces.
Mechanical
system like hydraulic, pneumatic, rotational or translational, thermal, Fluid etc.
are
used in Mechatronics applications. These systems are interfaced with computer
through
sensors, actuators and electronic systems.

Electrical Systems:
It includes transducer, signal conditioning, output device such as analog meters, 16
display
devices recorders and printers.

Information Systems:
It related with all the aspects regarding information transmission from signal
processing to control system and analysis techniques. It is a combinational of
communication systems, signal processing, control systems and numerical
methods.

Computer System:
It is combinational of hardware and software. In mechatronic applications hardware
is
computer specific circuit like flip-flops, computer registers, memories software is
nothing but system and application.
Electrical components mostly used are electrical motors (ac and dc} generators,
relays,
circuit breakers, switches and so forth.
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Electronic Systems:
Analog electronics involves passive and active components such as resistor,
capacitor, inductor, diodes and transistors digital circuits contain logic, gates,
counters,
Flip- flops, memories, microcontroller and process. Instrumentation & control
system:

ii. Define:
ii)
a)Sensor

b)Transducer with examples of each.

a)Sensor: It is device which senses any physical quantity and converts it into electrical
variable which may be signal conditioned. It is sophisticated device which is transducer
along with signal conditioning , Signal conditioning may include amplification, noise Ans:-
filtering, analog to digital converter etc. Definition
with
e.g. Proximity Sensor, Photo diode, LDR example-2
mks each
b)Transducer: It is device which converts any physical quantity into other physical
quantity.

e.g. LVDT, Bourdon tube

iii. Draw PI controller using OP-AMP and explain in brief. Diagram- 2

iii) mks,
Ans:- explanation-
2 mks

It is possible to combine the proportional and integral circuit in order to obtain the
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proportional and integral control action by using two resistors and capacitor. In above
circuit diagram of PI controller using OP-AMP , A, OP-AMP as a integrator circuit while
A2 as a inverter circuit.

Output of PI controller is

Vout =

The output of PI controller in time domain is Vout = Kp

Where Kp= As =

Therefore

iv) iv. Explain the basic components of pneumatic system with neat sketch.
Neat sketch
Ans:- – 2 mks,
explanation-
2 mks

Gas based system is called pneumatic system. A pneumatic system uses compressed
air as medium. It consist of element like compressor , reservior , control valve
cylinder piston and motor.

1. Air in any pneumatic system must be clean and dry to reduce wear and avoid
maintenance. Initially the inlet air is filtered by filter to remove dirt and smoke
particles otherwise it damages air compressor.

2. Function of air compressor is to provide pressursied air. It incresses air pressure

by reducing its volume. This compressed air is processed though air treatment
unit.

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3. The volume of compressed air is stored in reservior .

4. A pressure sensitive switch is attached to the reservior that activates the

compressor through on-off control and motor.

5. The control valve operates the cylinder –piston as per load requirement.

B) Attempt any two of the following: 8

i) i. State the working principle of cam. List its types. Give any two applications of
cam.
(Working
Principle
1M, Types-
1M, Any 4
Applications
- 2M)

(optional )

Working principle of cam:

A cam is mechanical rotating machine element which is used for converting one
motion
in to another. It is rotating machine element that gives reciprocating or oscillating
motion to another element known as follower. Usually cams are rotated at uniform
speed by shaft. The follower motion is predetermined according to the shape of cam
. Cam rotates and doing so , imports reciprocating motion to follower, with which it
is in contact. As the cam rotates, the follower is made to rise dwell and fall ,the
lengths of times spent at each of these positions depending upon shape of the cam.

Types of CAM:
 Wedge/flat cam
 Plane or disc cam
 Cylindrical cam
 Conical cam

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 Helical cam
 Radial
 3-dimentional

Applications of
cam:
 Automatic machines.
 IC engines.
 Machine tools.
 Printing control mechanisms.
 Spinning and weaving machineries.
 Textile machineries.
 Paper cutting machines.

ii) ii. What is ‘Part Programming’? Enlist basic requirements for part programming
with suitable example

Ans: Part programming: (Explanation

of part
programmin
g 2M, Basic
requirement
2M)

1. It is series of coded instructions required to produce a part.

2. It controls the movement of the machine tool and on/off control of auxiliary
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functions such as spindle rotation and coolant.

3. The coded instructions are composed of letters, numbers and symbols..

Basic requirements for part programming with suitable example

iii. Draw and explain strain guage accelerometer.

iii) Ans: Diagram:

(Diagram
2M,
Explanation
2M)

Explanation

The seismic mass is placed on the cantilever beam placed inside the housing . The
housing is filled with fluid to create damping force. The strain gauges of same type are
placed on both the top and bottom surface of cantilever beam as shown in fig.

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If any force acting on housing frame, the corresponding displacement by the mass will
take place inside the housing . Owing to this, the mass is displaced from original place,
which is sensed by strain gauges placed over the cantilever beam. Therefore, the
change in resistance occur in strain gauges due to mass displacement according to
Wheatstone bride circuit. At the same time, a damping force of the fluid by mass
displacement. Owing to both mass displacement and damping force of the fluid, the
beam bends, which produces strain on the beam. This strain is directly proportional to
the acceleration.

2 Attempt any four of the following: 16

a)
a)With diagram, explain working hall effect sensor.

Ans: Diagram: (Diagram

2M,
Explanation
2M)

Working: Working principle of a Hall effect sensor is that if strip of conducting material
carries a current in presence of transverse magnetic field as shown fig . The difference of
potential is produced between the opposite edges of the conductor. The magnitude of the
voltage depends upon the current and magnetic field. The current is passed through leads 1
and 2 of the strip and output leads 3 and 4 are connected with Hall strip . When a
transverse magnetic field passes through the strip, the voltage difference occurs in output
leads.

b. Explain in brief spherical robot. Why it is called as spherical robot?

b)

Ans:-

OR
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Diagram- 1
mks, explain
in brief- 1
Explanation: It has one linear and two rotary motions. It consist sliding arm actuated mks.
relative to the body, which can rotate about both vertical axis and horizontal axis. Reason- 2
mks

Spherical robot is a stationary robot with two rotary joints and one prismatic /linear joint
which forms a spherical coordinate system and hence it called spherical robot.

c. Explain operation of solenoid valve with neat diagram.

c)

Ans:

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OR

(Diagram
2M,
Operation: A solenoid valve is the combination of a basic solenoid and mechanical valve. Operation
So a solenoid valve has two parts namely- Electrical solenoid, mechanical valve. Solenoid 2M)
converts electrical energy to mechanical energy and this energy is used to operate a
mechanical valve that is to open, close or to adjust in a position.
A solenoid generates an electromagnetic force which moves armature connected to the
valve stem. When the current is removed from solenoid coil, the emf is dissipated
allowing internal spring return the valve stem to the original position

d. Give the block diagram of CNC based drilling machine.

d) Ans:-

Relevant
Block
diagram – 4
mks
OR

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e) e. Draw and explain the working of inductive and capacitive sensors.

(Each sensor
Ans: Inductive Sensor: diagram and
Diagram: explanation
in brief- 2M
each)

Operation: An inductive sensor consist of a coil wound around a ferrous metallic core
,detector circuit and solid state output . With supply voltage ,oscillator operates to produce
high frequency field . When a metallic object is placed near the field ,eddy currents are
induced on the surface of the object . These currents result in a loss of energy in the
oscillator, which in turn causes a smaller voltage of oscillation . The detector circuit
recognizes a change in the amplitude and generates a signal that will result in the output
device being ON or OFF.

Capacitive Sensor:

Diagram:

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Working

f)
f. Draw and explain the block diagram of fuzzy logic controller. (Block
Diagram
Ans: 2M,
Explanation
2M)

OR

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1 Fuzzification: It is the action of transforming a given state as crisp input into fuzzy
values by evaluating membership function for purpose to be used by a fuzzy interference
mechanism. Membership function forms a crucial part in fuzzy rule base model because
actually they only define Fuzzification of control variable in other word
 Fuzzification is the process of making a crisp quantity fuzzy.
 In the real world, hardware such as a digital voltmeter generates crisp data, but these
data are subject to experimental error.
 Fuzzification based on rule base or by decision making with knowledge base
 Membership function is bell shaped or triangular or trapezoidal shape
2. Fuzzy Interference:
Once membership function is found for each of variable an intelligent decision can be
made to what output should be. This decision process is called interference this can be
done knowledge base decision as well as rule base. This output then connected to
Defuzzification block
3. Defuzzification:
Converts the fuzzy output of the inference engine to crisp using membership functions
analogous to the ones used by the fuzzifier. A Defuzzification strategy is aimed at
producing a non- fuzzy control action that best represent the possibility of an inferred
fuzzy control action

3. a) Relevant
Attempt any four of the following : answer – 4
mks
What is the Significance of signal conditioners ?

Ans:
In mechatronic systems, processing and controlling of physical parameters like
temperature, pressure, flow, etc. is carried out by converting them into electrical signals
by means of suitable transducers. Depending upon the excitation system or requirement
of power supply, transducers are classified as passive and active. The excitation source
(ac or dc) is necessary for passive transducers like potentiometers, strain gauges, etc.
because these transducers do not produce their own output voltage or current. Similarly,
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amplification stage is also necessary to increase the level of output signal. Active
transducers (piezoelectric, thermocouple, etc.) produce their own electrical output when
physical quantities are applied to them, but amplifier stage is used to bring the output
signal up to a suitable level. In both cases, amplifiers are used because the output is at
low level. The output signal is amplified to bring it compatible with control elements,
indicating and display devices, recorders, controllers and so on.

b)
State the types of Actuators. Draw and explain signal acting cylinder.
4 types – 2
Ans:- marks ,
diagram-
1mark,explan
ation-1mark

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c) Explain in brief, how antilock barking system works. Diagram – 2

mks,
Ans: An ABS is a system on motor vehicles which prevents the wheels from locking explanation-2
while braking stopping safely is one of the most important functions a motor vehicle can mks
perform
.
Diagram:

Explanation: 04M
Failure of the brake system will almost invariably results in property damage, personal
injury or even death. An ABS allow the driver to maintain steering control under heavy
braking by preventing a skid and allowing the wheel to continue to roll forward and create
lateral control, as directed by driver steering inputs.
A typical ABS is composed of a central electronic unit, four speed sensors (one for each
wheel)
.
The electronic unit constantly monitors the rotation speed of each wheel. The pulsed
output
from the wheel speed sensors goes to an electronic controller which monitors each wheels
speed relative to the speed of the other wheels.

As long as the brakes are not being applied and all of the monitored wheels are rotating at
roughly the same speed, the system takes no action.
If however the brakes are being applied and one or more monitored wheels suddenly
beings to reduce speed indicating a loss of traction with load the controller then activates
the antilock system.

When it senses that any one of the wheels is rotating slower than the others, it moves the
valves to decrease the pressure on the braking circuit, effectively reducing the braking
force on that wheel.

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Draw block diagram of robot system. List functions of an end effector.

d)
Ans: [Block diagram-3 Marks, function of end effector -1 mks] Block
diagram-3
marks,functio
n of end
effector 1
mark

OR

Fig. block diagram of robot system

OR

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Functions Of An End Effector : ( diagram is optional )

1. End effector is the device at the end of a robotic arm designed to interact with the
environment.
2. End effectors originates from robotic manipulators (robotic arm) It is the last link of the
robot.
3. It is a last link of the robot. It is similar to human hand with or without finger. It
incorporates various sensors

Fig. End effectors

e) e) Explain how the piezoelectric effect is used to measure acceleration. List the features of
Diagram:- ( 2
piezoelectric accelerometer. mks)
Ans :

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Explanation:- ( 1 mks) Explanation –

The sensor consists of a piezoelectric crystal sandwiched between two electrodes
and has a mass placed on it. The unit is fastened to the base whose acceleration 1mark
characteristics are to be determined.. The mass exerts a force on the crystal and a
certain output voltage is generated. When the base is now accelerated downward,
the internal reaction force on the base acts upward against the top of the frame.
This relieves stress on the crystal and from newton‟s second law, since the mass is
a fixed quantity, the decrease in force is proportional to the acceleration. The
Any 2
resulting change in the output voltage is recorded and correlated to the acceleration
features –
imposed on the base.
Features Of Piezoelectric Accelerometer : ( any 2 features- 1 mks) 1mark
1) able to operate as a switch and can operate upto 100KHz
2) Cost is less than mechanical switches
3) no problems of switches of contact bounce
4) immune to environmental contaminations.

f) State the function of PLC. Draw a block diagram of basis PLC configuration.
f)
Ans:-

function- 2
mks, block
diagram- 2
mks

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4) 4. Attempt any four of the following : 16

a)
[Block
a) Explain the mechatronics system with the help of block diagram and labelled the various
elements. diagram-2
Marks,
Ans: The key elements of Mechatronics systems can be classified under following Explanation-
categories: 2 Marks]
Information systems
Mechanical systems
Electrical systems
Computer systems
Sensor and actuators
Real-time interfacing

Block diagram 2m

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OR

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Explanation: 2M
Mechanical systems:
Actuators: Actuations is the result of direct physical action on process directly. In any
physical process, there is motion or some sort of action. This motion or action can be
applied to mechanical processes or structure through actuators. E.g. Stepper motor,
Solenoids, DC
motor, synchros etc

Sensors: It accepts the physical quantities (process variables) from mechanical processes
(dynamic system) and converts them into a signal that can be processed by the system.

Electrical Systems:
Input signal conditioning and interfacing: The output of a transducer may be too small,
too noisy, contain DC offset, not be compatible with next stages, and contain wrong
information.

Signal conditioning process if amplification using amplifier in which the signal magnitude
is
increased.
Digital control architectures: PLCs are industrial devices used for interfacing and

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controlling analog and digital devices. Microcontrollers are low cost, versatile, small size
and easy programming device.

Graphical Displays: Various types of graphical displays are used for displaying measured
variable, outputs, voltages etc. waveforms can be displayed for various analyses by CRT.

Controllers: It takes input from output signal conditioning and interface and if is not
equal to the required set points then it is adjusted based on generated error and again signal
is given to actuators and sensors.

b) Explain the classification of robots on the basis of work place ? Give one example of each
b) :- classification
Robot. – 2 mks, one
example of
Ans
each – 2 mks

c) Draw the schematic and ladder diagram of PLC based automatic car park barrier system.
c)
Ans:
Automatic car parking system allow to park maximum numbers of car in parking zone Schematic
according to size of parking zone diagram – 2
In parking zone number of vehicle parked in parking zone is less than available parking mks, ladder
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space then automated parking system allow entering next car in parking zone. diagram- 2
mks
In parking zone number of vehicle parked in parking zone is equal to available parking Explanation:
space then automated parking system does not allow enter next car in parking zone. -
(OPTIONA
Diagram:- L)

Schematic diagram

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Ladder diagram

OR

d) d) Explain the implementation of proportional type hydraulic controller.

Ans:-

Diagram:- 2
mks,
Explanation:
2 mks

Explanation
When the jet pipe is moved towards right by the deviation the signal, the position moves
to the right along with the feedback linkage whose motion acts to bring the jet pipe back

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to its neutral position.

Thus for every unit deviation there is some fixed piston position that actuates the final
element to certain opening that brings about the necessary correction in the
measurement which is nothing but “P‟ action control.

e) List various photoelectric sensors. Explain any one of them in detail.

e)
Ans : List –There are two types of photoelectric sensors :
(1) Reflective -type sensor
(2) Transmissive -type sensor

Reflective- Type Sensor : ( any one – diagram- 1mks, explanation- 1 mks)

1mark list
Diagram- 1
mks,
explanation-
Explanation-A reflective –type sensor detects the object based on the 2 mks
reflection of
light onto a detector from the target . A code wheel for use with a
reflective type optical rotary encoder which can be produced easily and
optically read efficiently. The code wheel includes a non-reflective plate,
and a reflective plate having a suitable number of notches formed along a
periphery thereof and mounted in an overlapping relationship on the
nonreflective
plate whereby a reflective portion of the code wheel is formed
by a face of the reflective plate between each two adjacent notches while
a non-reflective portion is formed by a face of the non-reflective plate
exposed through the corresponding notch of the reflective plate.

f) Explain fuzzy logic control in fully automatic washing machine.

f)
Ans
(
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: Diagram 2 –
marks –
Explanation –
2marks

Before the details of fuzzy controller are dealt with the range of possible values for the
input and output variables are determined .These ( in language of fuzzy set theory ) are the
membership functions used to map the real world measurement values to the fuzzy values
, so that the operations can be applied on them . Values of the input variables , degree of
the dirt and type of dirt are normalized range (1 to 100 ) over the domain of optical sensor.
The decision which the fuzzy controller makes is derived from the rules which are stored
in the database. These are stored in set of rules. Basically the rules are if-then statements
that are intuitive and easy to understand , since they are nothing but common English
statements .Rules used in this project are derived from common sense , data taken from
typical home use , and experimentation in a controlled environment

The sets of rules used here to derive the output are :

1. If dirtness of clothes is Large and type of dirt is Greasy then wash time is very
long.
2. If dirtness of clothes is medium and type of dirt is Greasy then wash is very
long.
3. If dirtness of clothes is small and type of dirt is Greasy then wash is very long.
4. If dirtness of clothes is Large and type of dirt is medium then wash time is long.
5. If dirtness of clothes is medium and type of dirt is medium then wash time is
Medium .
The rules too have been defined in imprecise sense and hence they too are not crisp
but fuzzy values. The two input parameters after being read from the sensors are
fuzzified as per the membership function of the respective variables . These in
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additions with the membership function of the respective variables .These in

additions with the membership function curve are utilized to come to a solution .

)
5 5. Attempt any four of the following : 16
a) a) Draw block diagram of pick and place Robot. List the required movements of it.

Ans: Block diagram –Diagram: 2 mks,

explanation
of
requirement
– 2 mks

Explanation: Figure above shows the basic form of a pick and place robot unit. The robot
has three axes about which motion can occur.Rotation in a clockwise or anti-clock wise
direction of the unit on its base. Arm extension or contraction and arm up or down.
Gripper can open or close.These movements can be actuated by the use of pneumatic
cylinders operated by solenoid controlled valves with limit switches to indicate when a
motion is completed.
Thus clock wise rotation of the unit might result from the piston in a cylinder being
extended and the anticlockwise direction by its retraction.

Likewise the upward movement of the arm might result from the piston in a linear
cylinder being extended and the downward motion from it retracting.

The extension of the arm by the piston in another cylinder extending and its return
movement by the piston retracting.The gripper can be opened or closed by the piston in a
linear cylinder extending or retracting .

b) b) Explain MEMS accelerometer used as air bag sensors for car safety.

Ans: MEMS Accelerometer is used as airbag sensor:

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[Diagram- 2
Mark,
Explanation-
2 Mark]

Explanation- Mechanical ignition airbags fit inside the steering wheel pad. When a
collision
occurs, the inertial sensor moves, setting off a mechanical igniter and inflator to deploy the
airbag. As the sensor and igniter were in the same unit, the compact airbag unit easily fit
most steering wheels, allowing broad application of the airbag unit. With electrical
ignition
airbags, a computer monitors signals from the impact sensor. When it detects a collision,
the
computer sets off the airbag's igniter electrically. Therefore, the sensor need not be close
to
the airbag, but can be placed anywhere on the vehicle and connected to the airbag with
wiring. This is especially effective when fitting both driver- and passenger-side airbags.

c) c) Draw and explain LVDT accelerometer.

Ans:

Diagram:

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[2 marks for
diagram, 2
marks for
working]

Fig. LVDT accelerometer

OR

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Working:
A type of accelerometer takes advantage of the natural linear displacement measurement
of the LVDT to measure mass displacement. LVDT is Linear Variable differential
transducer which works on magnetic principle. In these instruments, the LVDT core itself
is the seismic mass.

Displacements of the core are converted directly into a linearly proportional ac voltage.
These accelerometers generally have a natural frequency less than 80 Hz and are
commonly used for steady-state and low-frequency vibration. Fig. shows the basic
structure of such an accelerometer.

d)
d) Draw and explain PLC ladder diagram of ON-OFF control of lamp.

Ans : Diagram

(Any correct
ladder logic)
Explanation:- ( 2 mks)
- (2 mks) ,
Figure above shows simple ladder diagram for ON- OFF control of lamp.
Explanation:
I: 0/0 is start button, as soon as it is pressed the contact gets closed and output
- ( 2 mks)
binary bits B3 : 0/0 goes high (logic 1).
As soon as B3 : 0/0 is high, lamp O: 0/0 turns ON as shown in rung 2.
When I:0/1 stop button is pressed, contact gets open and B3:0/0 goes low(Logic 0).
When B3:0/0 goes logic 0, lamp named O: 0/0 turns off.

e) Explain how torque is calculated using Torsion-bar torque transducer.

e)
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Ans:-

Diagram- 2
mks,
explanation- 2
mks

f)
f) Differentiate between pneumatic and hydraulic system.

Ans

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four relevant
points – 4
mks)

6 16
6. Attempt any four of the following :
a)
a) Describe poppet valve with neat sketch.

Ans:- A poppet valve (also called mushroom valve) is a valve typically used to control the
timing and quantity of gas or vapors flow into an engine. It consists of a hole, usually
round or oval, and a tapered plug, usually a disk shape on the end of a shaft also called a
valve stem. The portion of the hole where the plug meets with it is referred to as the 'seat'
or 'valve seat'. The shaft guides the plug portion by sliding through a valve guide.
In exhaust applications, a pressure differential helps to seal the valve and in intake
valves a pressure differential helps open it. Poppet valves date from at least the 1770s,
when James Watt used them on his steam engines.

Poppet valves are used in many industrial processes, from controlling the flow of milk to
isolating sterile air in the semiconductor industry. However, they are most well known for
their use in internal combustion and steam engines, as described below

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2 mks
sketch,2 mks
for
explanation

OR

b)

b) Give general configuration of CNC system. Give advantages of CNC (Any two).

Ans: Diagram:

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OR
(Diagram- 2
M,
advantages
(any two-
1M each)

Advantages: (any two) 01M each

An increase in flexibility.
An improvement in the possibilities for correcting errors in part programming.
The possibility of using the computers peripheral equipment.
Tape and tape reads are used only once for resulting improved reliability.

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CNC is more compatible.

CNC can accommodate the conversion of tapes prepared in units of inches to the
international unit system.

c)
c) Explain with various components of MEMS with neat diagram.

Ans:-

Diagram- 2
mks,
explanation- 2
mks

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d) d) Explain the concept of degree of freedom of Robot with sketch.

Ans:-

Sketch – 2
mks,
explanation- 2
mks

e)
e) Enlist the advantages of Microcontroller (any four).

Ans:-

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Advantages of microcontrollers 4
ADVANTAGES-
It is an integrated chip with all valuable components including RAM,ROM,I/O Ports
1 mks for each
Cost reducing programs with simple circuitry advantages

Inbuilt timers/counters

They are cheap and very small in size

Programming of microcontrollers is simple to learn

f)
f) State and explain working principle of tacho generator.

Ans:-

Diagram- 2
mks,
explanation- 2
mks

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OR

OR

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