School of Mechanical and

Industrial Engineering
Introduction To Mechatronics
(MEng3212)
Chapter one

Introduction

አዘጋጅ፡ ሙሉጌታ በላይ ኅዳር 2015 ዓ.ም

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 Introduction to Mechatronics
Contents
1. Definition of mechatronics
2. Role of mechatronics engineer and need for mechatronics
3. Classification of mechatronics system and emerging areas of
mechatronics
4. Advantages, disadvantages and application of mechatronics
5. Review of measurement systems
6. Review of control systems
7. Reviews on mechatronics system modeling
8. Design project proposals

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 Introduction to Mechatronics
1. Definition of mechatronics
What is Mechatronics……?
The term mechatronics was ‘invented’ by a Japanese engineer in
1969, as a combination of ‘mecha’ from mechanisms and ‘tronics’ from
electronics.

 It is used to denote a rapidly developing, interdisciplinary field of

engineering dealing with the design of products whose function
relies on the integration of mechanical and electronic components
coordinated by a control architecture.

 It is a methodology used for the optimal design of electromechanical

products. 3
 Introduction to Mechatronics
What is Mechatronics……?

 Instead of one, it is multidisciplinary, embodying four fundamental

disciplines: electrical, mechanical, computer science, and
information technology to obtain optimum result from an
electromechanical system.

 A mechatronic system is not an electromechanical system but is

more than a control system.

 Mechatronics brings together the areas of technology involving

sensors and measurement system, drive and actuation system,
analysis of behavior of the system, control system and
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microprocessor system.
Introduction to Mechatronics
What is Mechatronics……?

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 Introduction to Mechatronics
Before Mechatronics

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Introduction to Mechatronics
• After Mechatronics…………….

Modern Automobile Industrial Process Modern Lathe Machine

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 Introduction to Mechatronics
2. Role of mechatronics engineer and need for mechatronics
The role of mechatronics engineer
 Should be able to design and select mechanical devices, sensors and
actuators, analog and digital circuits, and control devices to design
modern system

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 Introduction to Mechatronics
2. Role of mechatronics engineer and need for mechatronics
Need for mechatronics

 Changing market conditions

 Need for variety of in a product

 Demand for high quality products

 Flexibility

 Intelligent process control

 Enhanced product design

 Reliable inspection of products

 Increase in production rate 9

 Introduction to Mechatronics
3. Classification of mechatronics system and emerging are of
mechatronics
Classification of mechatronics system

 Conventional mechatronics system

 Micro-electro-mechanical(micro-mechatronics) system(MEMS)

 Nano-electro-mechanical(nano-mechatronics) system(NEMS)

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 Introduction to Mechatronics
Key Elements of Mechatronics System
Physically, a mechatronic system is composed of four prime
components. They are sensors, actuators, controllers and
mechanical components.

Mechatronics Key Elements in block diagram.

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 Introduction to Mechatronics
Key Elements of mechatronics system

Mechatronics Key Elements are:

 Information Systems
 Mechanical Systems
 Electrical Systems
 Sensors and Actuators
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Introduction to Mechatronics

ACTUATORS
SENSORS CONTROLLER

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 Introduction to Mechatronics
Physical systems:
Physical systems are concerned with the behavior of action or force. It
includes fluid, Mechanical, Thermal, Pneumatics and acoustics etc.
Examples:
Mechanical systems
Electrical systems
Electromechanical systems
Fluid systems
Thermal systems

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 Introduction to Mechatronics
Sensors:
Sensors are required to monitor the performance of physical system
also used to evaluate the operations and system health.
Examples
Pressure sensors
Temperature sensors
Flow, Torque, Accelerometer etc.,

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 Introduction to Mechatronics
Actuators:
Actuators are involves in a physical action or it gives motion to the
physical system.
Example:
DC-Motor
Servo Motor
Stepper motor

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Signal Processing:
Signal processing is concerned with improving the quality of sensors
signals. Example eliminating the noise, increasing the strength etc.,
Important components of Signal Processing:
 Amplifiers
 Attenuations
 Filters
 ADC
 DAC

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 Introduction to Mechatronics
Control system:
Control system algorithm controls the physical system through
actuators based on the data received from the sensor.
Important Control systems tools are:
 Logic systems
 Microcontrollers
 Microprocessors
 Programmable Logic Controllers (PLC)

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 Introduction to Mechatronics
Examples of mechatronic systems
 Air-conditioning system
 Printers and photocopy machine
 Vending machine
 Automobile air bag safety system and antilock brake systems.
 Automated manufacturing equipment such as robots.
 Numerically controlled (NC) machine tools.
 smart kitchen home appliances such as coffee makers and clothes
washing machines, digital cameras and even toys.

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 Introduction to Mechatronics
3. Classification of mechatronics system and emerging are of
mechatronics
Emerging area of mechatronics

 Machine vision

 Robotics

 Home and industrial automation

 Unmanned vehicles

 Computer integrated manufacturing

 Virtual reality
 Automotive industries
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 Medical field
 Introduction to Mechatronics
4. Advantages, disadvantages and application of mechatronics
Advantages of mechatronics
 Enhanced features and functionality
 More user-friendly
 Precision control
 More efficient
 Lower cost
 Flexible design (reprogrammable)
 More reliable
 Smaller
 Safer 21
 Introduction to Mechatronics
4. Advantages, disadvantages and application of mechatronics
Dis Advantages of mechatronics

 Initial cost of the product is high

 Design and implementation of the system requires knowledge in

various disciplines

 Incorporating mechatronics approach in existing system complex

and expensive

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4. Advantages, disadvantages and application of mechatronics
Application of mechatronics
 Domestic product
 Office equipment's
 Retail equipment's
 Industrial systems

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4. Advantages, disadvantages and application of mechatronics
Application of mechatronics
Industrial system and production
 Monitoring and control of manufacturing process
 CNC Machine tools
 E-Manufacturing
 Rapid prototyping
 Image processing
 Autonomous robots

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4. Advantages, disadvantages and application of mechatronics
Application of mechatronics
Automotive Industries
 Vehicle diagnostics and health monitoring
 Airbags
 Anti lock braking system
 Various sensors like position, Fuel, Pressure and transmission

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 Introduction to Mechatronics
4. Advantages, disadvantages and application of mechatronics
Application of mechatronics
Health care Industries→Surgical Assistants:
 Can assist surgeons with performing operations
 Easy operational procedures.
 The ability to manipulate a highly sophisticated robotic arm by
operating controls seated at a workstation out of the operating room.

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4. Advantages, disadvantages and application of mechatronics
Application of mechatronics
Rehabilitation Robots:
 These play a crucial role in the recovery of people with disabilities
 Improving mobility, strength, coordination, and quality of life.
 These robots can be programmed to adapt to the condition of each patient as they
recover from strokes, traumatic brain or spinal cord injuries
 Virtual reality integrated with rehabilitation robots can also improve balance,
walking, and other motor functions.

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4. Advantages, disadvantages and application of mechatronics
Application of mechatronics
Medical Transportation Robots Supplies:
 Medications, and meals are delivered to patients and staff by these
robots
 Optimizing communication between doctors, hospital staff
members, and patients.

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5. Review of Measurement systems

 A fundamental part of many mechatronic systems is a

measurement system composed of the three basic parts.

 The transducer is a sensing device that converts a physical input

into an output, usually a voltage.

 The signal processor performs filtering, amplification, or other

signal conditioning on the transducer output.

 The term sensor is often used to refer to the transducer or to the

combination of transducer and signal processor. 29
 Introduction to mechatronics
5. Review of Measurement systems

 Finally, the recorder is an instrument, a computer, a hard-copy

device, or simply a display that maintains the sensor data for online
monitoring or subsequent processing.

 Measurement is the operation of determining the value of quality.

 The objective of measurement system is to give user a numerical

value corresponding to the variable being measured.

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 Introduction to mechatronics
5. Review of Measurement systems
The input is a true value of a variable to measure and output is a
measured value of that variable. E.g. temperature, weight
The functional elements of measurement systems
1. Sensor
2. Signal conditioner
3. Data representation/ display

Sensor: consists of transducer whose function is to convert the one

form of energy into electrical form of energy. A sensor is a sensing
element of measurement system that converts the input quantity being
measured into an output signal which is related to the quantity 31
 Introduction to mechatronics
5. Review of Measurement systems
Sensor:

Example:

 Temperature Sensor – Thermocouple

 Input – Temperature

 Output – E.M.F (Electrical Parameter).

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5. Review of Measurement systems

 signal conditioner-it changes the information received from

sensor into suitable form, so that it can be displayed. E.g.
Wheatstone bridge that converts change in resistance into change
in voltage, amplifier that transforms the signal magnitude,
oscillator that converts an impedance change into a variable
frequency.

 Signal processing elements such as analog to digital converters

filters are also used.

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 Introduction to mechatronics
5. Review of Measurement systems

signal conditioner:
 Example:
 Temperature measurement-Single Conditioner function (Amplifier)
 Input – Small E.M.F value (From sensor)
 Output – Big E.M.F Value (Amplified).

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5. Review of Measurement systems

data representation/ display

 It displayed so that observer can recognize it. E.G. Pointer,

recorder or digital read out.

 Output transmitted into other control system and compared with

required value.

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 Introduction to mechatronics
5. Review of Measurement systems

data representation/ display

Example:
 Display – L.E.D (or) Number on scale by pointer movement
 Input – Conditioned Signal (from signal conditioner)
 Output – Value of the quantity (Temperature)

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Introduction to mechatronics
6. Review of Control systems
A control system is a system, which provides the desired response by giving
appropriate input. A control system can be classified in to two based on
the feedback path:
Open loop control system
Closed loop control system

Examples :
 Traffic lights control system
 washing machine
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 Introduction to mechatronics
6. Review of Control systems
Open loop control systems
If there is no feed back device to compare the actual value with the
desired value(output is not fed-back to the input).
If no control with its input(so, the control action is independent of
the desired output). Example: Traffic light, automatic washing
machine, immersion rod, TV remote etc.

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6. Review of Control systems
Open loop control systems
 An input is applied to a controller and it produces an actuating
signal or controlling signal.
 This signal is given as an input to a plant or process which is to be
controlled.
 So, the plant produces an output, which is controlled.

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Introduction to mechatronics
6. Review of Control systems
Closed loop control systems
If there is feed back device to compare the actual value with the
desired value(output is fed-back to the input).
If there is control with its input(so, the control action is dependent of
the desired output). Example: Air conditioner, temperature control
system, speed and pressure control system, refrigerator, toaster etc.
The error detector produces an error signal, which is the difference
between the input and the feedback signal. This feedback signal is
obtained from the block (feedback elements) by considering the
output of the overall system as an input to this block.

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 Introduction to mechatronics
6. Review of Control systems
Closed loop control systems
 Instead of the direct input, the error signal is applied as an input to a
controller.
 So, the controller produces an actuating signal which controls the
plant. In this combination, the output of the control system is
adjusted automatically till we get the desired response.

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 Introduction to mechatronics
6. Review of Control systems
Closed loop control systems
Elements of closed loop control systems
Comparison unit, Control unit, Correction unit, Process unit
Measurement unit device.
Systems of controlling room temperature

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 Introduction to mechatronics
6. Review of Control systems
Closed loop control systems
System of controlling water level

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 Introduction to mechatronics
6. Review of Control systems
Basis For
Open Loop System Closed Loop System
Comparison
Definition The system whose control action is free the output depends on the
from the output control action of the system.

Other Name Non-feedback System Feedback System

Components Controller and Controlled Process. Amplifier, Controller,
Controlled Process, Feedback.
Construction Simple Complex
Reliability Non-reliable Reliable
Accuracy Depends on calibration Accurate because of feedback.
Stability Stable Less Stable
Optimization Not-Possible Possible
Response Fast Slow
Calibration Difficult Easy
System Disturbance Affected Not-affected
Linearity Non-linear Linear 44
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6. Review of Control systems

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7.Reviews on Mechatronics System Modeling
Why Mathematical Model…..?
 All physical system can be represent by mathematical equations and
defined by numerical values
 Good prediction of system behavior and reliable design can be
obtained by mathematical modeling
 Mathematical models are equations which describe the relationship
between the input and output of a system.
 The basis for any mathematical model is provided by the fundamental
physical laws that govern the behavior of the system
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7.Reviews on Mechatronics System Modeling
Transfer Function
The transfer function of a system is defined to be the ratio of Laplace
transform of the output variable to the Laplace Transform of the Input
variable.
G(S) =
𝑳(𝒄 𝒕 )
c(t) 𝑳(𝒓(𝒕)
r(t) G(S) Output
Input
𝑪(𝑺)
=
𝑹(𝑺)

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 Introduction to Mechatronics
7.Reviews on Mechatronics System Modeling
Laplace Transform
The process of changing the function for a particular quantity f(t) from
the function of time ‘t’ into the complex function F(S) of complex
operation ‘S’ is known as Laplace transform.
Time Laplace
Domain Domain
f(t) F(S)
𝒅𝒏 Sn
𝒅𝒕𝒏
𝑿(𝑺)
𝒙(𝒕)
𝑺

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 Introduction to Mechatronics
7.Reviews on Mechatronics System Modeling
Mechanical System
Basic systems
 Translation/Linear systems
 Rotational systems
Translating system
There are three fundamental physical elements that make you translating
mechanical system.
 Inertia element
 Spring element
 Friction element 49
 Introduction to Mechatronics
7.Reviews on Mechatronics System Modeling
Inertia Element:
Inertia is basically a property of a body to resist a change in its state.
If a force ‘F’ is applied to a mass and it is displaced to ‘x’ meters then
the relation b/w force and displacements is given by Newton’s law.
x

F
M

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7.Reviews on Mechatronics System Modeling
Spring Element

Then x1 is the deformation if

Or is the deformation.
The equation of motion is given as

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7.Reviews on Mechatronics System Modeling
Case one,
Parallel element

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7.Reviews on Mechatronics System Modeling

Case two,

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7.Reviews on Mechatronics System Modeling
Modelling a simple Translational System
Example-1 (cont.….)

Free Body Diagram

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 Introduction to Mechatronics
7.Reviews on Mechatronics System Modeling
Modelling a simple Translational System
Example-1 (cont.….)
Taking the Laplace Transform of both sides and ignoring Initial
conditions we get,

2
F ( s )  Ms X ( s )  CsX ( s )  kX ( s )

X (s) 1
 2
F ( s ) Ms  Cs  k

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 Introduction to Mechatronics
7.Reviews on Mechatronics System Modeling
Modelling a simple Translational System
Example-2
The translation mechanical system shown in figure. Determine the
𝑋1(𝑆)
transfer function when the system at rest after applying the force
𝐹(𝑆)

f(t)

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 Introduction to Mechatronics
7.Reviews on Mechatronics System Modeling
Modelling a simple Translational System
Example-3
𝑋1(𝑆) 𝑋2(𝑆)
Obtain the transfer function and of the mechanical system
𝑈(𝑆) 𝑈(𝑆)

shown in figure,

x1(t) x2(t)
u(t)

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 Introduction to Mechatronics
7.Reviews on Mechatronics System Modeling
Modelling a simple Translational System
Example-4 : Car suspension system

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 Introduction to Mechatronics
7.Reviews on Mechatronics System Modeling
Modelling a simple Translational System
Example-4 (Cont.….)
Explanation
Quarter mass of
the car
Let x=0 and y=0 when
The the system is in static
suspension equilibrium

Mass of the
wheel

Ground

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 Introduction to Mechatronics
7.Reviews on Mechatronics System Modeling
Modelling a simple Translational System
Example-4 (Cont.….)
Free body diagram

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7.Reviews on Mechatronics System Modeling
Rotational Mechanical systems
Main elements of rotational mechanical systems are
 Moment of inertia of mass
 Dash pot
 Torsional spring
J-Moment of inertia

Moment of Inertia of mass -Angular displacement
J T

T  J

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7.Reviews on Mechatronics System Modeling
Rotational Mechanical systems
Torsional Spring

1
2

T  k (1   2 )

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7.Reviews on Mechatronics System Modeling
Rotational Mechanical systems
Rotational Damper
1
2 T

T  C(1  2 )

If 2 is fixed then

T  C1
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 Introduction to Mechatronics
7.Reviews on Mechatronics System Modeling
Rotational Mechanical systems
Example-1

Example-2

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8.Design Project proposals→Mechatronics system design approach

We know that stages in the design process for the given

application is:

1. The need

2. Analysis of the problem

3. Preparation of a specification

4. Generation of possible solutions

5. Selections of a suitable solution

6. Production of a detailed design

7. Production of working drawings. 65

 Introduction to Mechatronics
Mechatronics system design approach

Recognition of the Model in the Deployment of

need loop simulation the project
Conceptual design
and functional Software in the Life cycle
specification loop simulation optimization
First principle
modular and Hardware in the
mathematical
Future models
loop simulation
Sensormodeling
and actuator
and update
selection Design
Detailed mathematical optimization
modeling
Control system
design Note that: These are stages in
Design
Optimization designing mechatronics system 66
Introduction to mechatronics
Advantages of mechatronics design

High resolution and accuracy

Reduces house hold heating cost

Self calibrating

Flexible design

Environmental friendly

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End of Chapter One

Next Lecture:
Chapter 2: Actuation Systems for
Mechatronics

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