Introduction to

Mechatronic
Lecturer’s Name: Nur Safwati bt. Mohd Nor
Room No.: C23-416
Scan your Attendance
Some facts about
Mechatronic Class
 Fact No. 1

NO FINAL EXAM
 Course Outline
Code: SEMM 3253 (Mechatronic)
Method of evaluation

No. Method Percentage (%)

1 Test 1 25
2 Test 2 25
3 Assignment 10
4 Project 40

Reference/ Textbook: W. Bolton, 5th. Edition, Prentice Hall,

2013
Text book

Price : RM 12

Contact: PM Dr Zarhamdy
 Fun Fact No. 2

You will have

group since week 1
 Fun Fact No. 3
You will explore and
learn about Arduino,
hardware/ software/
hands on
 Fun Fact No. 4

You will develop

Maker Mindset)
 Cooperative &
Collaborative
Learning
Teaching
and
Learning
Method
Project based
learning (PBL)
 Lecture Outline
Course outline

What is Mechatronics?

Key elements of mechatronics

Example of mechatronics system

Design process of Mechatronics System

Week Topic/ content
1
2 Course OutlineIntroduction to Mechatronics
Sensors, actuators and drives
3 Sensors, actuators and drives
4 Microprocessors and Microcontrollers

5 Project Briefing and group discussion

6 Microprocessors and Microcontrollers

7 Data Acquisition System (DAS), Interfacing and control

8 Programmable Logic Controllers (PLC)

9 Semester Break

10-15 Design a Mechatronic System

Project Monitoring : Presentation to course facilitator
Video
Video
What is Mechatronics
 Definition
Introduced by Tetsuro Mori (Japanese engineer) in
1969

“Synergistic integration of mechanical engineering with

electronics and intelligent computer control in the
design and manufacturing of industrial products and
processes.”

Mechanisms Mecha

Mechatronics

Electronics tronics
 Get to know Mechatronics

Microprocessor
Collection of logic gates and memory
elements and it is software-functional

Microcontroller
Embedded system A single chip that provide memory for
Microprocessor-based system that is designed data storage, input/output port which
to control a range of functions enable it to process signal from/to the
outside world

Mechatronics
 Drawbacks of Mechanical
system Semiconductor Revolution
Power amplification inability
• Led to the creation of integrated circuit (IC) technology.
• Effective, miniaturized, power electronics could amplify and deliver
Energy losses due to tolerances, inertia and friction
needed amount of power to actuators.
• Signal conditioning electronics could filter and encode sensory data in
analog/digital format.
Revolution/• improvement:
Hard-wired, on-board, discrete analog/digital ICs provided
▪ Using integrated circuits (ICs) for control of mechanical
rudimentary computational and decision-making circuits for control of
mechanical devices.
devices.

An Integrated Circuit An A2D Converter An Operational Amplifier

▪ Microcontrollers replacing precision mechanical

components
 e Components: Basic Elements touch using micro-switch, temperature using thermistor, and
on
Elements of Mechatronics—Electrical/Electronic
conductivity sensor
Gear, rack, pinion, etc.
– Actuators
ping • Key Electrical Elements of
• DC servomotor,
elements refer to: Mechatronics
stepper motor, relay, solenoid, speaker, light emitti
shape memory alloy, electromagnet, and pump apply commande
physical process
p simulation – Electrical components (e.g., resistor (R), capacitor (C), inductor
1. Mechanical element 2. Electromechanical
• IC-based sensors and actuators (digital-compass, -po
transformer, etc.), circuits, and analog signals element
Cam and Follower
Chain and sprocket etc.).
sition
Control •and controlelements refer to:
Electronic
dware
ments 5. PC-based transistors,
data
ents refer to: – analog/digital electronics, thyristors, opto-isolators, opera
acquisition/control
Lever electronics,
nalog (D2A) converter,amplifiers,
digital power and signal conditioning DC motor
ocessor, microcontroller, data
Flexiforce Sensor
• The electrical/electronic
signal processing (DSP) board
elements are used toDCinterface
Motor Pne
ele
gital interfacing
mechanical sensors and actuators to the control interface/comp
omputer and communication of
hardwareSprings
tuator Cam and Follower
Wheel/Axle elements
control algorithm, which
4. Control 3. Electrical/electronics
ol actions to be applied by
interface/computing element
hardware
Lever

Microcontroller Integrated circuit

s
 Mechatronic System
Information Systems
Electromechanical Real-time interfacing
Modeling &
simulation
Actuators D/A
Automatic Mechanical Electrical Computer
control systems systems systems
Sensors A/D
Artificial
intelligence
 Information Systems
Modeling – process of representing the behavior of real
system (physical system) using mathematical equation.

Simulation – process of solving the model and is performed

on a computer. (programming language: C, C++)

Control – a group of components that maintains a desired

result by manipulating the value of another variable in the
system.

Artificial intelligence – concern with the automation of

intelligent behavior. (Systems that think and act like human)
 Mechanical Systems
Concerned with the behavior of matter under the
action of forces that cause motions

Eg: fluid system and thermal system

 Electrical Systems
Consist of
i. Electronics
ii. Power systems

Power systems are designed to transmit large quantity of electrical energy.

Eg: Motor, generator

Electronics are designed to transmit small quantity of electrical energy.

Eg: Op-amp, resistor, capacitor, transistor, diode
 Computer Systems
The study of such circuits should be connected together to think
efficiently

For mechatronics applications, the circuits and devices including

i. Microcontroller
ii. Microprocessor
iii. Programmable logic controller (PLC)
iv. Digital logic (flip flops, counters, timers and triggers

Computer systems consist of

i. Hardware
ii. Software
Microcontroller

Line Follower Robot Challenge

 Microcontroller
Arduino microcontroller kit

http://arduino.cc/en/Guide/HomePage
 Mechatronics system is divided into 2
types
- 1) Logic type

- - Eg: tv control panel

- 2) Sequence type

- Eg; washing machine

Types of Mechatronics System

TIME-BASED SENSOR-BASED
(SEQUENTIAL PROCESS) (LOGICAL PROCESS)

1. Performed in a prescribed 1. Choosing the sensor features

order 2. Also known as sensor-
2. Each operation/ activity is feedback control
called as step 3. properties: rapidity,
3. Triggered by time or an accuracy, low computation
event (push a button, rates etc.
completion of early task etc.) 4. Involve control laws,
interaction between target and
the sensors
Discrete control in Mechatronics
Sequential control
Event driven

✓ change is executed by the controller in response to

some event that has caused the state of the system to be
changed

Time driven

✓ Change is executed by the controller either at a specific

point in time or after a certain time lapse has occured
Automatic drilling machine
 Overview of Sequential Control
Control of staged processes with discrete steps
Cloth dryers
Washing machines

Dishwashers

All processes
Time-driven driven by timing of
sequential process the events
Overview of Sequential Control
Event- driven sequential processes

Robotic arms

Sensors are switched

Motion sequence that indicate position
depends on position of
mechanical parts
Overview of Logical Control
o Received input signal from sensors

Smart street lights

 Sequential controllers
Situation – switched on and off at particular preset
times
After Step 1 completes, Step 2 starts. After Step 2
completes, starts Step 3, etc.
Sequential control – when control is done in such that
actions are ordered in a time- or event-driven sequence
By electric circuit with sets of relays or cam-operated
switches
Now – hard-wires circuit is replaced with
microprocessor control
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 As an illustration – domestic washing machine

Operations must be in correct sequence:

1. Pre-wash cycle

2. Main wash cycle

3. Rinse cycle

4. Spin cycle

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Mechatronics Applications
 Robot
Good example of mechatronic system

Integrate software, electronics and mechanical design

in a synergistic manner
▪ Separate parts act together
▪ Combined effects are more effective
Mechanical vs Mechatronics
 Example
Example of
of Mechatronics
Example Systems
of Mechatronics
Mechatronics Systems
Systems
Mechanical Mechanical vs Mechatronics
Approach
Mechanical
Mechanical Approach
Approach
Mechatronics
Mechatronics Approach
Mechatronics Approa
Approach
KAIST
KAISTKAIST

Disk Brake
Disk Brake Eddy Current Brake Brake
Eddy Current
• physical• physical
contact contact • No physical contact contact
• No physical
• wear or• material fatigue fatigue
wear or material • No wear or material
• No fatigue fatigu
wear or material
• Heating.
• Heating. • no heating
• no due to physical
heating due to physical
contatc. contatc.
Departm entDepartm
Department of Mechatronics
of M echatronics EngineeringEngineering
ent of M echatronics
Engineering
 Structural Control
Structural Control
 Home Automation
Home Automation
• Using a computer:
– Turn on the lights at
preset times
– Adjust brightness
– Turn on the heat at preset
times or temperatures
– Serve as a security system
 Robotics
Robotics
Robotics
Robotics
 Remote Robot Arm Manipulation
Mechatronics
Research @Remote
Poly
Examples
Mechatronics @ Poly
Emergency Notificati

Remote Robot Arm Manipulation

Smart Irrigation System
Type X Mechatronics
RemoteThe
Emergency Notificat
Smart Walker

Safe N Sound Driver

Remote Emergency
Notification System Smart IrrigationSmart
System
Cane
 Grip Assistant

▪ 2 fingers are powered using two independently controlled servos

▪ The middle and ring fingers were determined to be the most effective fingers to
be powered
 Examples of mechatronics
systems
• Domestic appliances – fridge, freezers,
microwave ovens, washing machines,
vacuum cleaners, digital cameras, videos,
DVD player, camcorder, etc.

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iRobot® Roomba® Scheduler Vacuuming Robot

Our top-of-the-line vacuuming robot features a built-in

scheduling system that adds ultimate convenience.
Program up to seven cleaning times to clean
automatically as often as you like--even when you're
out. Includes filters, brushes, Cleaning Tool and 2
Scheduling Virtual Walls.

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• Domestic systems – air conditioning
units, security systems, automatic gate
control

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 Iris recognition

Hand recognition Voice recognition

Finger print
DNA
Keystroke recognition
Face recognition51

SECURITY SYSTEM
SME3252: Mechatronics
Lecture
2
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Signature
• Retail equipment – automatic labeling
system, bar coding machines, RFID

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• Manufacturing equipment – NC tools,
pick-and-place robot, AGV, robotic
systems

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• Aviation system – cockpit controls and
instrumentation, landing gear systems

• Latest – unguided aerial vehicle (UAV) with

micro turbine 54

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Airbus 380- Europe Boeing 787 Dreamliner- USA
Size 800 passengers double 25% fuel saving

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Automotive:

- braking system, ABS

- security system, door lock

- driverless

Military – bomb disposal unit, surveillance system, vehicle

Hospital facilities for casualties

Agriculture

– wireless monitoring system

- precision agriculture
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 Benefits (1)
More features

✓ A mechanical design - only one function

✓ E.g. using PIC microcontroller - expanded

features and functionality

✓ Flexibility of adding features - LCD displays,

LEDs, motors,

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 Benefits (2)
• More user friendly
✓Further improvement leads more user-
friendly product
✓E.g. in automotive system - power
windows, power door locks, keyless
entry, and numerous other conveniences

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Mercedes S-Class

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 Benefits (3)
• Precision control
✓ Purely mechanical solutions are not as
efficient
✓ Cruise control in an automobile - allows for
precise control
✓ A microcontroller based - controls many
different variables (i.e. velocity, acceleration,
cumulative changes in velocity) to give the car
a smooth acceleration to the desired speed as
well as maintaining a constant velocity over
varying load conditions. 61

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 Benefits (4)
• More efficient
✓ More efficiency by adding intelligence to the
design
✓ Microcontroller can make better use of the
energy available by offering the precision
control
✓ Pulse Width Modulation (PWM) can be used
instead of resistive elements to vary the
voltage and current to a load, thereby
increasing the efficiency of the system. 62

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 Benefits (5)
• Lower cost
✓ In some cases, a mechatronics system costs
less than the alternative mechanical solution
✓ A complex mechanical solution is simplified
using a microcontroller-based approach
✓ Design time, product size, and reliability can
all be improved
✓ These factors impact the cost over the
lifetime of a product.
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 Benefits (6)
• Flexible design
✓ The specifications of a product can change
during the course of its design
✓ Any software controlled parameters can be
changed quickly without the need for a
product redesign
✓ This flexibility also allows the same hardware
to be used in different products
✓ The software is simply changed to meet the
needs of each product.
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 Benefits (7)
• Increased reliability
✓ Mechanical designs - prone to wear and tear
over time e.g. mechanical odometer in car
✓ Consists of a flexible cable running from the
transmission to the odometer gage –
unreliable, prone to failure
✓ Mechatronic design - an optical encoder and
digital display, which increases system
reliability.
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Old mechanical
odometer

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 Benefits (8)
• Smaller size
• Motor drive circuits - over-sized drive stages
to handle in-rush current
• Can be reduced by implementing soft-startup
using a microcontroller.

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 iphone by Apple

Blackberry PDA phone

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 Benefits (9)
• Safer
• Adding intelligence - system is safe
• E.g. Automatic shutdown to a coffee pot or
sense when a system is overheating
• Safety checks added to a system with
microcontroller controlling the system.

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Automatic shut off
coffee pot

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Mechatronics System Design
Design concept based on:
Mechatronic Design Approach
1. Modeling and simulation
2. Prototyping Modeling/Simulation Prototyping Deployment/Life
Cycle

3. Deployment Recognition of the Need Hardware-in-the-loop Deployment of Embedded

Simulation (HIL) Software

Conceptual Design and Design Optimization Life Cycle Optimization

Functional Specification

First Principle Modular

Mathematical Modeling
Conceptual Design
Sensor and Actuator
Selection Embodiment Design

Detailed Modular Production Ramp Up

Mathematical Modeling

Control System Design

Design Optimization