Dr.

Vithalrao Vikhe Patil College of

Engineering Ahmnednagar

Department of
Electronics and Telecommunication
Engineering
Mechatronics
Prof. A. R. Landge
Assistant Professor
M.E.(E&TC- VLSI & Embedded System Design)
 Department VISION

To incorporate technical excellence in the field of Electronics &

Telecommunication Engineering and allied areas to the technocrats
through the quality education

Prof. A.R.Landge DVVPCOE Mechatronics

 Department MISSION
1. To build proficient undergraduates having ability to design ,
develop, analyze and explore in the field of Electronics &
Telecommunication Engineering
2.To promote the students and faculties by providing them a
platform to nurture their all round qualities &their personalities
3.To maintain a healthy communication with industries through
strong professional relationship with Alumni.
4.To infuse the spirit of teamwork and Entrepreneurship among the
students
5. To provide Ethical and Social Environment to the students so that

they can value their duties and responsibilities towards the society

Prof. A.R.Landge DVVPCOE Mechatronics

 Program Educational Objectives (PEOs)

1) PEO1: To provide students the fundamental and application

based education in Electronics and Telecommunication
Engineering
2) PEO2: To prepare students to analyze and solve real life
problems in the field of Electronics & Telecommunication
Engineering
3) PEO3: Graduates exhibit a desire for life long learning through
technical training and professional activities
4) PEO4: To groom the graduates with current technical updation
through industry institute interaction to mould their
career .
5) PEO5: Graduates embody a commitment to professional ethics
and social awareness in their professional career .

Prof. A.R.Landge DVVPCOE Mechatronics

 Course Objectives

1) To understand the concept and key elements of Mechatronics

system, representation into block diagram
2) To understand principles of Sensors and their characteristics
3) To Understand of various Data Presentation and Data Logging
systems
4) To Understand concept of Actuator
5) To Understand various case studies of Mechatronics systems

Prof. A.R.Landge DVVPCOE Mechatronics

 Course Outcomes

On completion of the course, student will be able to

1 Identification of key elements of Mechatronics system & its
representation in terms of block diagram
2 Understanding basic principal of Sensors & Transducer.
3. Able to prepare case study of the system given.

Prof. A.R.Landge DVVPCOE Mechatronics

 Course Structure

304185 Mechatronics
T.E. E&TC
Semster- 5
Credits: TH-03
Teaching Scheme : Lecture : 03 hr/week
Examination Scheme : In-Sem : 30 Marks
End-Sem : 70 Marks
304192 Microcontrollers and Mechatronics Lab
Credits: PR-02
Teaching Scheme: Practical : 04 hr/week
Examination Scheme: Practical : 50 Marks
Term work : 50 Marks

Prof. A.R.Landge DVVPCOE Mechatronics

 UNIT 1 Course Objectives

1 To study the Basics of Mechatronics systems.

2 To study the different types Mechatronics systems with Example.

Prof. A.R.Landge DVVPCOE Mechatronics

 UNIT 1 Course Outcomes:

1. Get the knowledge about Key elements of Mechatronics Systems .

2. Analyze Mechatronics systems in daily life .
3. Understand the Mechatronics design process.
4. Know integrated design approach .

Prof. A.R.Landge DVVPCOE Mechatronics

 Mechatronics
Unit I

Introduction to Mechatronics
Lecture 1
 Basics of Mechatronics Systems

• The word mechatronics was originated from Japan (Yasakawa

Electric Company) in the late 1960s, spread through Europe, and is
now commonly used round the globe.

• “The word, mechatronics, is composed of ‘Mecha’ from mechanism

and the ‘Tronics’ from electronics.

• Mechatronics solves technological problems using interdisciplinary

knowledge consisting of Mechanical engineering, Electronics, and
Computer technology.

Prof. A.R.Landge DVVPCOE Mechatronics

 Basics of Mechatronics Systems
• Mechatronics is the Synergistic
Integration of
• Sensors ,
• Actuators,
• Signal Conditioning,
• Power Electronics,
• Decision and Control Algorithms,
Computer Hardware and
• Software

to manage Complexity, Uncertainty and Communication in

engineered systems

Prof. A.R.Landge DVVPCOE Mechatronics

Key Elements of Mechatronics Systems

Prof. A.R.Landge DVVPCOE Mechatronics

 Key Elements of Mechatronics Systems
• Actuators: produce motion or cause some action.
e.g. Solenoids, Voice Coils, DC Motors, Stepper Motor, Servomotor,
Hydraulic, Pneumatic.

• Sensors: detect the state of the system parameters, inputs and outputs.
e.g. Switches, Potentiometer, Photoelectric, Digital Encoder, Strain
Gauge, Thermocouple, Accelerometer etc.

• Input/output Signal conditioning and interfacing: provide

connection between the control system circuits and input/output
devices.
e.g. Discrete Circuits, Amplifiers, Filters, A/D, D/A, Power Transistor

Prof. A.R.Landge DVVPCOE Mechatronics

 Key Elements of Mechatronics Systems
• Digital Control Devices: controls the system.

Logic circuits, micro controller, SBC, PLC etc

• User Interface/ Graphic Display: provide visual feed back to users.

LEDs, Digital Displays, LCD, CRT

Prof. A.R.Landge DVVPCOE Mechatronics

 Levels of Mechatronics systems
1. Primary Level Mechatronics (First Level):
• This level incorporates I/O devices such as sensors and actuators that
integrates electrical signals with mechanical action at the basic
control levels.
• Examples: Electrically controlled fluid valves and relays

2. Secondary Level Mechantronics (Second Level):

• This level integrates microelectronics into electrically controlled
devices.
• Examples: Cassette players

Prof. A.R.Landge DVVPCOE Mechatronics

 Levels of Mechatronics systems
3. Tertiary Level Mechatronics (Third Level ) :
• This level incorporates advanced feedback functions into control
system thereby enhancing the quality in terms of sophistication ,
called smart system.
• The control strategy includes microelectronics, microprocessor and
other ‘ Application Specific Integrated Circuits’ (ASIC)
• Example: Control of Electrical motor used to activate industrial
robots, hard disk, CD drives and automatic washing machines.

Prof. A.R.Landge DVVPCOE Mechatronics

 Levels of Mechatronics systems
4. Quaternary Level Mechatronics (Fourth Level ) :
• This level incorporates Intelligent Control in mechatronics system.
• It introduces Intelligence and Fault Detection and Isolation (FDI)
capability systems
• Example:: Artificial Neural Network & Fuzzy logic technologies

Prof. A.R.Landge DVVPCOE Mechatronics

 Advantages & Disadvantage
Mechatronics System
• Advantages :
1. The products produced are Cost Effective and Very Good Quality.
2. High degree of flexibility.
3. A mechatronics product can be better than just sum of its parts.
4. Greater extent of machine utilization.
5. Due to the integration of sensors and control systems in a complex
system, capital expenses are reduced.
6. Intelligent self correcting sensory & feedback systems results in
Greater Productivity & Reliability. Higher Quantity
Prof. A.R.Landge DVVPCOE Mechatronics
 Advantages & Disadvantage
Mechatronics System
• Disadvantages :

I. High initial cost of the system.

2. Imperative to have knowledge of different engineering fields for
design and implementation.
3. Specific problems for various systems will have to be addressed
separately and properly
4. It is expensive to incorporate mechatronics approach to an
existing/old system.

Prof. A.R.Landge DVVPCOE Mechatronics

 MCQ
1) which of the following produce motion or cause some action
a) Actuators b) Sensors c) input signal conditioning d) digital control
2) Thermocouple is the example of
a) Actuators b) Sensors c) input signal conditioning d) digital control
3) Smart system are part of _______ level of mechatronics
a) Primary b) Secondary c) Tertiary d) Quaternary
4) FDI capability is part of _______ level of mechatronics
a) Primary b) Secondary c) Tertiary d) Quaternary
5) Mechatronics system manages which of the following things
a) Complexity b) Uncertainty c) Communication d) all of above
Prof. A.R.Landge DVVPCOE Mechatronics
 Mechatronics
Unit I

Introduction to Mechatronics
Lecture 2
 Measurement Characteristics

System:
• An orderly arrangement of components connected to form a single unit
for performing a defined function.
• A large system consist of several sub systems.
Examples
• a group of devices or artificial objects or an organization forming
network especially for distributing something or serving common
purpose Telephone System , Heating System , Highway System
Computer System

Prof. A.R.Landge DVVPCOE Mechatronics

 Measurement Characteristics
• Measurement system:
• It is the operation of determining the numerical value of a quantity.

• Input is a true value & output is a measured value of that variable.

• Example:- Thermometer for measuring temperature
• Weighting scale for measuring weight
• note :- True value here refers to Value calculated Theoretically.
Prof. A.R.Landge DVVPCOE Mechatronics
 Measurement Characteristics
• Characteristics can be classified into three categories

(i) Static Characteristics :- They refer to the system characteristics

when the input is either held constant or varying very slowly.
(ii) Dynamic Characteristics :- They refer to the system characteristics
when the input is changing rapidly with time.
(iii) Random Characteristic :- If repeated readings of same quantity of
measurand are taken by same instrument, under same ambient
conditions, they are bound to differ from each other. This is due to
inherent sources of errors of instrument that vary randomly & so it is
very difficult to exactly predict its value
Prof. A.R.Landge DVVPCOE Mechatronics
 Static Characteristics
• Range : Difference between the maximum and
minimum value of the sensed parameter
• Example: a common thermometer for the
measurement of temperature have a range of RANGE
-30 - 100 °C. -30 - 100
• Span : The span is difference between the °C
maximum and minimum values of the input.
• Example: a common thermometer for the SPAN
measurement of temperature having a range of 130 °C
- -30 - 100 °C., will have a span of 130 °C.
{ i.e. 100 – (-30) = 130 °C }

Prof. A.R.Landge DVVPCOE Mechatronics

 Static Characteristics
Accuracy
• The degree of closeness of measurement compared to the True
Value.
• It depends on factors as – non linearity, hysteresis , temperature,
vibration, drift .
1) Point Accuracy:
• It is specified at only one particular point of scale.
• It does not give any information about the accuracy at any other Point
on the scale.
2) Percentage of Instrument Span
• When an instrument as uniform scale, its accuracy may be expressed
in terms percentage of scale span
Prof. A.R.Landge DVVPCOE Mechatronics
 Static Characteristics
3) Percentage of Full Scale Reading
Percentage of Full Scale Deflection (% of fsd) =
(Measured Value – True Value) *100 / Maximum Scale Value
4) Percentage of Actual Reading
• Accuracy is specified in terms of the True Value of the quantity
being measured.
Percentage of true value (% of T.V.) =
(Measured Value – True Value) *100 / True Value

Prof. A.R.Landge DVVPCOE Mechatronics

 Static Characteristics
Precision

• Precision is defined as the capability of an instrument to show the same

reading when used each time (reproducibility of the instrument)

• An instrument can be very Precise but Inaccurate

• Precision is independent of accuracy.

A) Conformity:

• a resistor having true value as 2385692 is measured by an ohmmeter.

But reading shown is consistently 2.4 M due to non availability of
proper scale. The error created due to the limitation of the scale is a
precision error. Prof. A.R.Landge DVVPCOE Mechatronics
 Static Characteristics
B) Number of Significant Figures:
The precision of the measurement is obtained from the number of
significant figures, in which the reading is expressed.
The significant figures convey the actual information about the
magnitude & the measurement precision of the quantity.
The precision can be mathematically expressed as:
P= 1-| Xn – Xn / Xn |
Where, P = precision
Xn = Value of nth measurement
Xn = Average value the set of measurement values
Prof. A.R.Landge DVVPCOE Mechatronics
 Static Characteristics

Low Accuracy Low Accuracy High Accuracy

Low Precision High Precision High Precision

Difference between accuracy and precision

Example : a shooter aiming at the target .
If all the shots are hit at the particular point it is said to have high
precision.
Prof. A.R.Landge DVVPCOE Mechatronics
 Static Characteristics
Linearity
• It is defined as the ability of an instrument to reproduce its input
linearly
•Linearity is a measure of the maximum deviation of the calibration
points from the ideal straight line
•Linearity is defined as,
•Maximum deviation of output from idealized straight line ∕ Actual
readings
• Nonlinearity is define as the maximum deviation of any of the output
readings the straight line. expressed as a percentage of full-scale reading
Prof. A.R.Landge DVVPCOE Mechatronics
Static Characteristics

Prof. A.R.Landge DVVPCOE Mechatronics

 MCQ
1) Conformity is Characteristic of this static charcteristic
a) Range b) Span c) Accuracy d) Precision
2) Characteristic which is varying very fast is ______characteristic
a) static b) dynamic c) Random d) none of above
3) Difference between the maximum and minimum value of the
sensed parameter is
a) Range b) Span c) Accuracy d) Precision
4) Degree of closeness of measurement compared to True Value is
a) Range b) Span c) Accuracy d) Precision
5) Maximum deviation of output from idealized straight line is
a) Range b) Span c) Linearity d) Precision
Prof. A.R.Landge DVVPCOE Mechatronics
 Mechatronics
Unit I

Introduction to Mechatronics
Lecture 3
 Static Characteristics
• Hysteresis
•If the input measured quantity to tis
steadily increased from a negative
value, the output reading varies in the
manner shown in curve (A)
• If the input variable is then steadily
decreased, the output varies in the
manner shown in curve (B).

•The non coincidence between these loading and unloading curves is

known as hysteresis Prof. A.R.Landge DVVPCOE Mechatronics
 Static Characteristics
• Hysteresis
• Two quantities are define ,
maximum input hysteresis and
maximum output hysteresis .
• Hysteresis is most commonly found
in instruments that contain springs,
such as the passive pressure gauge

Prof. A.R.Landge DVVPCOE Mechatronics

Static Characteristics

Prof. A.R.Landge DVVPCOE Mechatronics

 Static Characteristics
Sensitivity
• It can be defined as the ratio of the incremental output and the
incremental input. OR
• Sensitivity is defined as the ratio of change in output value to the per
unit change in input value that causes the output change.

Sensitivity (k) = ∆ θo / ∆θi

Where,

∆θo = Change in output

∆θi = Change in input

Prof. A.R.Landge DVVPCOE Mechatronics
 Static Characteristics
Resolution
• Resolution is the smallest detectable
incremental change of input that can be
detected in the output signal.
• Resolution indicates the minimum change
in input that is detectable

• The Resolution defines the smallest measureable input change

• Resolution can be expressed either as a proportion of the full-scale
reading or in absolute terms.

Prof. A.R.Landge DVVPCOE Mechatronics

 Static Characteristics
• Threshold
• Threshold of a measuring instrument is the minimum value of input
signal that is required to make a change or start from zero.
• This is the minimum value below which no output change can be
detected when the input is gradually increased from zero.
• It defines the smallest measureable input,
• If the input to an instrument is gradually increased from zero, the
input will have to reach a certain minimum level before the change in
the instrument’s output reading.

Prof. A.R.Landge DVVPCOE Mechatronics

 Static Characteristics
• Threshold
• This minimum level of input is known as the threshold of the
instrument.
• E.g. : Eddy current Speedometer in automobiles a threshold of
15km/h

Prof. A.R.Landge DVVPCOE Mechatronics

 Static Characteristics
Drift
• Drift is a departure in output over the period of time.
• An instrument will have no drift if it produces same reading at
different times for the same variation in the measured variable.
• Drift is does not depend on operating conditions or load.
• Drift is an undesirable characteristic as it is rarely apparent and
cannot be easily compensated for.
• Drift is of the following types;
a) Zero Drift b) Span Drift c) Zonal Drift

Prof. A.R.Landge DVVPCOE Mechatronics

 Static Characteristics
Zero Drift:
•Drift is called zero drift if whole of calibration
shifts over by the same amount.
•It may be due to shifting of pointer or
permanent set.
Span Drift:
•If the calibration from zero upwards changes
proportionately it is called span drift.
•It may be due to the change in spring gradient.

Prof. A.R.Landge DVVPCOE Mechatronics

 Static Characteristics
Zonal Drift:
When the drift occurs only over a portion
of the span of it is called zonal drift.
• following factors contribute to drift .
i) Wear and tear
ii) Mechanical vibrations
iii) Stresses developed in the parts of the instrument
iv) Temperature variations
v) Stray electric and magnetic fields
vi) Thermal EMF
Prof. A.R.Landge DVVPCOE Mechatronics
 MCQ
1) Ratio of the incremental output and the incremental input is
a) Sensitivity b) Resolution c) Drift d) Threshold
2) Smallest Measureable input is called
a) Sensitivity b) Resolution c) Drift d) Threshold
3) Smallest measureable input change is called
a) Sensitivity b) Resolution c) Drift d) Threshold
4) if whole of calibration shifts over by the same amount then drift is
a) Zero drift b) Span drift c) Zonal drift d) none of above
5) When drift occurs only over a portion of the span of it is called
a) Zero drift b) Span drift c) Zonal drift d) none of above
Prof. A.R.Landge DVVPCOE Mechatronics
 Mechatronics
Unit I

Introduction to Mechatronics
Lecture 4
 Static Characteristics
Dead Band (Neutral Zone , Dead Space or Dead Zone)
• Dead band is an area of a signal range or band where no action occurs
i.e. the system is dead
• e.g. 10 g weight on a 10 kg balance.
• It is the largest change in the physical variable to which the measuring
instrument does not respond.
• It is defined as the range of input values over which there is no change
in output value.
• Dead band is different from hysteresis.
• Dead band is purposefully used in voltage regulators and other
controllers to prevent oscillation or repeated activation-deactivation
cycles.

Prof. A.R.Landge DVVPCOE Mechatronics

Static Characteristics

Prof. A.R.Landge DVVPCOE Mechatronics

 Static Characteristics
Dead Time
• Dead time is the time required by instrument to begin to respond to a
change in the measured variable.
• It represents the time before the instrument begins to respond after the
measured variable has changed.
• The units of dead zone are the units of the variable, whereas, the units
of the Dead time are the units of time.

Prof. A.R.Landge DVVPCOE Mechatronics

 Static Characteristics
• Backlash
• It is the maximum distance or angle through which any part of
mechanical system may be moved in one direction without applying
appreciable force or motion to the next part in sequence.
• It can be minimized if components are made to very close tolerances.

Prof. A.R.Landge DVVPCOE Mechatronics

 Static Characteristics
• Repeatability
• It is the closeness of output readings when the same input is applied
repetitively over a short period of time, with the same measurement
conditions, same instrument and observer, same location and same
conditions of use maintained throughout
• Reproducibility
• It is the closeness of output readings for the same input when there
are changes in the method of measurement, observer, measuring
instrument, location, conditions of use, and time of measurement

Prof. A.R.Landge DVVPCOE Mechatronics

Static Characteristics

Prof. A.R.Landge DVVPCOE Mechatronics

 Dynamic Characteristics
Speed of Response
• It is defined as the rapidity with which a system responds to changes
in the measured quantity.
Measuring Lag:
• It is the retardation or delay in the response of a system to changes in
the measured quantity.
a) Retardation Lag:
• the response of the measurement system begins immediately after the
change in measured quantity has occurred.

Prof. A.R.Landge DVVPCOE Mechatronics

 Dynamic Characteristics
b) Time Delay Lag:
• The response of the measurement system begins after a dead time
after the application of the input.
Fidelity:
• It is defined as the degree to which a measurement system indicates
changes in the measured quantity without dynamic error
• i.e. capability of instrument to faithfully reproduce changes in input,
without any dynamic error.
Dynamic Error:
• It is the difference between true value of the quantity changing with
time & the value indicated by system if no static error is assumed.
• It is also called measurement error.
Prof. A.R.Landge DVVPCOE Mechatronics
 Dynamic Characteristics
Speed of Response
The rapidity with which a system
responds to changes in measured
quantity.
Response Time
Time required by system to settle to
its 63% of final steady value after
application of input.
Rise time :
time taken for output to rise to 90% of steady state value .
Settling Time :
Time taken for output to settle within 2.5% of steady state value
Prof. A.R.Landge DVVPCOE Mechatronics
 MCQ
1) Range of input values for there is no change in output is called
a) Dead band b) Dead zone c) Dead space d) all of above
2) Rapidity of system response to changes in measured quantity is
a) Speed of Response b) Dead Time c) Response Time d) Rise Time
3) Retardation in response of system to changes in measured quantity
a) Speed of Response b) Measurement Lag c) Dead Time d) Rise Time
4) Time required to respond to a change in measured variable
a) Speed of Response b) Dead Time c) Response Time d) Rise Time
5) Time required by system to settle to 63% of final steady value.
a) Settling Time b) Dead Time c) Response Time d) Rise Time
Prof. A.R.Landge DVVPCOE Mechatronics
 Mechatronics
Unit I

Introduction to Mechatronics
Lecture 5
 Mechatronics systems in daily life

Washing Machine

The working principle of a washing machine is centrifugation.

• Centrifugation is a separation process which uses the action of

centrifugal force to promote accelerated settling of particles in a

solid-liquid mixture.
• The washing machine consists of centrifuge for this purpose. A

centrifuge is a piece of equipment that puts an object in rotation

around a fixed axis, applying a force perpendicular to the axis of spin

that can be very strong.

Prof. A.R.Landge DVVPCOE Mechatronics
 Mechatronics systems in daily life
• In washing number of operation are carried out in specified sequence.

• The operations are Wash cycle, Rinse cycle , Spinning cycle.etc.

• Each operation have number of steps like

Opening Water Inlet,

Closing Water Inlet ,

Closing Water Outlet,

Rotating Drum in Clockwise and Anticlockwise direction,

Switching On /Off Motor etc.

Prof. A.R.Landge DVVPCOE Mechatronics

 Washing Machine

• Each opening sequence is called a Program.

• In modern washing machine microprocessor controls the overall

operation of system.

• Microprocessor together with Input and Output circuits, Memory ,

Analog to Digital Converter constitute a Programmable Controller.

• The set of values and sequence of operation is determined by the

program which is set by pressing keys on dials on the fascia of the
machine

Prof. A.R.Landge DVVPCOE Mechatronics

Washing Machine

Prof. A.R.Landge DVVPCOE Mechatronics

Washing Machine

Prof. A.R.Landge DVVPCOE Mechatronics

 Digital Camera
• Digital cameras are normally used to capture still picture or take
videos through the use of an electronic image sensor.
• An optical system is built inside the camera which uses a variable
length camera lens which is mainly used to focus light on the image
capturing device.
• The length of the diaphragm and the shutter controls how much
amount of the light will be utilized.
• In digital camera, the image capturing device is an electronic device
whereas a chemical device was used in normal old age film cameras.
• Modern digital cameras have several amazing features which has
made them become so popular in these days. Prof. A.R.Landge DVVPCOE Mechatronics
 Digital Camera
• There are many types of digital cameras which are available in the market
such as point & shoot, SLR, DSLR mirror less etc
• Modern automatic camera have automatic focusing and exposure.
• A microprocessor is used to control entire operation of camera.
• When switch is operated to activate camera the microprocessor takes the
input from range sensor and sends command to lens drive mechanism .
• Then lens position is fed back to microprocessor to set the range position
• The light sensor output is given to microprocessor that gives output to
determine whether photographer has selected shutter control mode
• After photograph is taken microprocessor signals motor drive to close
shutter
Prof. A.R.Landge DVVPCOE Mechatronics
Digital Camera

Prof. A.R.Landge DVVPCOE Mechatronics

Digital Camera

Prof. A.R.Landge DVVPCOE Mechatronics

 Short Questions
1) List 5 new features of washing machine
2) List different types of image sensors used in digital camera.
3) List different camera resolution for digital camera in
smartphone

Prof. A.R.Landge DVVPCOE Mechatronics

 Mechatronics
Unit I

Introduction to Mechatronics
Lecture 6
CD Players

Prof. A.R.Landge DVVPCOE Mechatronics

 CD Players
• A CD player consists of 5 parts:
1. A CD,
2. A Drive Motor to spin the CD,
3. A Laser and Lens.
Laser &Lens work together to read whether a point on the disk is 1
or 0.
5. A Tracking mechanism, that moves the laser/lens assembly radially,
and
6. A Microprocessor.

Prof. A.R.Landge DVVPCOE Mechatronics

 CD Players
• Compact Disc (CD)
• It holds approximately 783 MB of data.
• The CD is a disk made of plastic and a thin layer of aluminum.
• Between plastic & aluminum layers is a spiral track, 0.5 microns
wide, with the track pitch of 1.6 microns radially.
• Width of track, 0.125 microns high,&
• minimum of 0.83 microns long.
• On this track are bumps .
• The length of each bump is read & translated differently.
• If track were to be stretched out linearly, it would be 5 kilometers
Prof. A.R.Landge DVVPCOE Mechatronics
 CD Players
• Drive Motor
• The drive motor rotates the CD at a precise rate, somewhere between
200 & 500 RPM.
• The drive motor changes speed so that the linear speed of the CD is
always the same as it crosses the reading mechanism of the CD
player.
• Reading Mechanism
• Reading mechanism has 2 parts, a laser and a laser diode that reads
• Laser diode read when it can see the laser. Due to the alignment of the
laser to the diode,
Prof. A.R.Landge DVVPCOE Mechatronics
 CD Players
• The bumps act as mirrors and reflect light to the laser diode,
• While the flat surface of the disk reflects the laser to a position where
the laser diode does not read it.
• This creates a digital signal,
• Tracking mechanism
• Because the data track is a spiral, the laser and laser diode assembly
must be able to move to follow the track as it spirals out.
• This is accomplished by a tracking mechanism, which moves the laser
assembly radially
• The position of tracking mechanism is used as an input to control the
speed of the drive motor Prof. A.R.Landge DVVPCOE Mechatronics
 CD Players
• The greater the distance from the center of drive motor, and the
center of the CD, the slower the drive motor spins.
• This ensures that the linear speed of the track remains constant, so
the reading mechanism has a constant input and output of data.
• This output, a digital signal, is sent to a digital-to-analog converter,
turning the digital signal from the bumps and flats on the CD, into an
analog signal that is then sent to the speakers.
• Depending on the complexity of the CD player, sometimes music data
is temporarily stored on a RAM chip, for anti-skip functions.

Prof. A.R.Landge DVVPCOE Mechatronics

 CD Players
• Microprocessor
• The microprocessor has several functions.
• It controls the speed of the drive motor based on the position of the
tracking mechanism.
• It stores a few seconds of the digital signal, in advance of it being played, in
case the CD player has a mechanical shock that causes the reading device to
lose its place.
• It reads the intro information, which is stored at very beginning of the disk,
and uses that information to read the rest of the disk.
• This intro information stores the table of contents, including track
information, and where the start of each song is located on the disk.
Prof. A.R.Landge DVVPCOE Mechatronics
 Camcorders
• It is a combination of Camera & Video Recorder
• It have three major components: Lens, Imager and Recorder.
• The lens gathers light, focusing it on the imager.
• The imager converts incident light into an electrical signal.
• The recorder converts the electrical signal to video, encoding it in a
storable form.
• The lens and imager comprise the "camera" section.
• All the components are made to work with Embedded Software ,
which controls all the adjustment of lens imager & recorder
Prof. A.R.Landge DVVPCOE Mechatronics
 Camcorders
• Lens
• Camcorder optics have one or more of the following controls:
• Aperture ( or Iris): Regulates exposure and controls depth of field
• Zoom : Controls focal length and angle of view
• Shutter speed : Regulates exposure to maintain desired motion
portrayal
• Gain : amplifiers signal strength in low-light conditions
• Natural density Filter: Regulates exposure intensity
• Small actuators regulate the lens & control lens positioning.
Prof. A.R.Landge DVVPCOE Mechatronics
 Camcorders
• Image Sensor / Imager
• CCD (or CMOS sensor, earlier models used Vidicon tubes), or a
photodiode array which may be an Active Pixel Sensor converts light
into an electrical signal.
• The camera lens projects an image onto the imager surface, exposing
the photosensitive array to light.
• This light exposure is converted into an electrical charge.
• At the end of the timed exposure, the imager converts accumulated
charge into a continuous analog voltage at the imager's output
terminals. Prof. A.R.Landge DVVPCOE Mechatronics
 Camcorders
• Imager.
• After the conversion is complete, the photo sites reset to start the
exposure of the next video frame.
• Most camcorders use a single imaging sensor with integrated colour
filters, per pixel, to enable red, green and blue to be sensed, each on
their own set of pixels.
• Example JVC GZ-HD3 introduced around 2007, is a triple sensor
camera usually CCD but could be CMOS.

Prof. A.R.Landge DVVPCOE Mechatronics

 Camcorders
• Recorder
• The recorder writes the video signal onto a recording medium, such as
magnetic videotape.
• Since the record function involves many signal-processing steps,
some distortion and noise appears on the stored video.
• Playback of the stored signal did not have the exact characteristics
and detail as a live video feed.
• All camcorders have a recorder-controlling section & modes,
• Playback Mode for reviewing recorded footage, and
• Image-control Section controlling exposure, focus and color balance
• The image recorded need not be limited to what appeared in the
viewfinder.

Prof. A.R.Landge DVVPCOE Mechatronics

 MCQ/ Short Questions
1) Video recording duration of CD is
(a) up to 20 hrs (b) approx. 80 min (c) up to 8hrs (d) approx. 30 min
2) Storage capacity of CD is
(a) 700 MB (b) 4.7-17 GB (c) 25-50 GB (d) 18-24 GB
3) Drive motor rotates the CD at____ rate.
(a) 200 -500 rpm. (b) 500 -700 rpm. (c) 100 -200 rpm(d) 1000 -1200
rpm
4) List 5 new features of camcorder
5) List different types of controls in camcorder

Prof. A.R.Landge DVVPCOE Mechatronics

 Mechatronics
Unit I

Introduction to Mechatronics
Lecture 7
Mechatronics Design Process

Prof. A.R.Landge DVVPCOE Mechatronics

 Mechatronics Design Process

• The mechatronic design process consists of three phases:

Modeling and Simulation, Prototyping and Deployment.
• A first principle model (basic equations) is a simple model which
captures some of the fundamental behavior of a subsystem.
• A more detailed model is an extension of first principle model
providing more function & accuracy than first level model , & it is
modular in structure.
• Connecting blocks together may create complex models.

Prof. A.R.Landge DVVPCOE Mechatronics

 Mechatronics Design Process

• Each block represents a subsystem, which corresponds to some

physically or functionally realizable operations,
• It can be encapsulated into a block with input/output limited to input
signals, parameters, and output signals.
• An efficient computer-aided prototyping environment is essential for
mechatronic design process .

Prof. A.R.Landge DVVPCOE Mechatronics

 Mechatronics Design Process (Phases)
• Modeling: Block diagram or visual interface for creating intuitively
understandable behavioral models of physical phenomenon.
• The ability to encapsulate complexity and maintain several levels of
subsystem complexity is useful.
• Simulation: Numerical methods for solving differential, discrete,
hybrid, partial, implicit nonlinear and linear equations.
• Must have a lock for real-time operation and be capable of executing
faster than real time.
• Project Management: Database for maintaining project information
and subsystem models for eventual reuse.
Prof. A.R.Landge DVVPCOE Mechatronics
 Mechatronics Design Process (Phases)
• Design: Numerical methods for constrained optimization of
performance functions based on model parameters and signals. Monte
Carlo type of computation is also desirable.
• Analysis: Numerical methods for frequency-domain, time-domain,
and complex-domain design.
• Real-Time Interface: A plug-in card is used to replace part of the
model with actual hardware by interfacing to it with actuators and
sensors.
• This is called hardware in the loop simulation or rapid prototyping
and must be executed in real time.
Prof. A.R.Landge DVVPCOE Mechatronics
 Mechatronics Design Process (Phases)
• Code Generator: Produces efficient high-level source code from the
block diagram or visual modeling interface.
• The control code will be compiled and used on the embedded
processor. The language is usually C.
• Embedded Processor Interface: The embedded processor resides in
the final product.
• This feature provides communication between the process and the
computer-aided prototyping environment.
• This is called a full system prototype.

Prof. A.R.Landge DVVPCOE Mechatronics

 Integrated Design Approach
• Mechatronic systems encompass a wide range of disciplines and
hence are collaborative in nature.
• Currently, the collaborative development of mechatronic systems is
inefficient and error-prone
• As design environments do not allow sufficient flow of design and
manufacturing information across different design domains
( electrical , mechanical, electronics etc)
• Mechatronic systems need to be designed in an integrated fashion
allowing designers from all the engineering domains to receive
automated feedback regarding design modifications throughout the
design process.
• Integrated design of mechatronic systems can be facilitated through
the integration design domains in hardware & software with tools like
computer-aided design (CAD) systems.
Prof. A.R.Landge DVVPCOE Mechatronics
 MCQ/ Short Questions
1) To capture fundamental behavior of a subsystem which type of
model is used
(a) first principle model (b) detailed model (c) neither (a) nor(b) (d)
both (a) and (b)
2) Numerical methods for solving design equation is called
(a) modeling (b) simulation (c) design (d) analysis
3) Numerical methods for frequency-domain, time-domain, and
complex-domain design.is called.
(a) modeling (b) simulation (c) design (d) analysis
4) Numerical methods for constrained optimization of performance
functions based on model parameters and signals
(a) modeling (b) simulation (c) design (d) analysis

Prof. A.R.Landge DVVPCOE Mechatronics

 Mechatronics
Unit I

Introduction to Mechatronics
Lecture 8
 Mechanical System & Components
• Mechanical elements refer to mechanical structure, mechanism,
thermo-fluid, and hydraulic aspects of a mechatronics system.
• The mechanical element may include static/dynamic characteristics
and it interacts with its environment purposefully.
• The mechanical elements of mechatronics systems require physical
power to produce motion, force, heat, etc to implement descision
taken by controllers
• E.g. springs , gears , mass , dampers , motors etc.
• Transmission of power from one location to another with the help of
gears, belts & roller chain is apart of mechatronics system
Prof. A.R.Landge DVVPCOE Mechatronics
Mechanical Components

Prof. A.R.Landge DVVPCOE Mechatronics

 Linear Motion
• study of basic equation of motion is helps to understand position ,
velocity & the time object takes to get someplace

• F m a

• F=ma calculates force required to accelerate an object

• v=at calculates velocity of an object uniformly accelerated
• d =1/2 at2 calculates distance travelled by an object under
uniform acceleration in certain time
• V=√2ad calculates velocity of an object for the distance it has
moved under acceleration.
Where
F –force , v = velocity , a= acceleration , t= time, d= distance
Prof. A.R.Landge DVVPCOE Mechatronics
 Rotational Motion
• Gears , wheels , axels and motors work on the principle of rotational
motion
• Linear motion & rotational motion equation are analogous to each
other
• Force is analogous with torque
• Linear acceleration with angular acceleration
• Linear velocity with angular velocity
• Mass with amount of inertia (I)

Prof. A.R.Landge DVVPCOE Mechatronics

 Rotational Motion
T=Fd T=Iα
T= Torque , F= Force T= Torque , I= moment of
d= distance between axis & force inertia
location on wheel α = angular acceleration
θ= ωt ω=αt
θ= angular position in radians ω= angular velocity
ω= angular velocity α = angular acceleration
t= time the object has been t= time the object has been
rotating rotating

θ=1/2 αt2 ω=√2αθ

angular position of an object at angular velocity of an object
constant acceleration that has moved to a certain
position with a certain angular
velocity
Prof. A.R.Landge DVVPCOE Mechatronics
 Mass
• Amount of matter present in a object is mass (unit Kg).
• Weight is downward force of object due to gravitational force (unit
N).
• Mass and weight ARE directly proportional to each other
F=ma & W=mg
• Where W= weight m = mass g= gravitational acceleration (9.8 m/ s 2)
Momentum
• It is the product of mass & velocity. It is a measure of how much
energy it takes to get part moving.
Momentum = m . v
• Where m = mass of object
• v = velocity of object

Prof. A.R.Landge DVVPCOE Mechatronics

 Inertia
• It is a basic property of mass/matter by which it continues in its
existing state of rest or uniform motion in a straight line, unless that
state is changed by an external force
• Moment of Inertia

• a quantity expressing a body's tendency to resist angular acceleration

which is sum of products of mass of each particle in the body with
square of its distance from axis of rotation.
• It is a function of mass , shape , weight & size.

e,g, flywheel stores energy due to moment of inertia

I= mr2 Where I= moment of inertia , m = mass ,
Prof. A.R.Landge DVVPCOE Mechatronics
 Dashpot
• Dashpots is mechanical device ,a damper which resist motion by
viscous friction.
• Force provided by dashpot is proportional with velocity of object
but in opposite direction, which slows motion & absorbs energy &
makes object stable .
• Dashpots used in conjunction with a spring.
• The two most common types of dashpots are linear and rotary ones.
• Linear damper
• Linear dashpots exert a force opposite to a translation movement.
• They are specified by stroke (amount of linear displacement) &
Prof. A.R.Landge DVVPCOE Mechatronics
 Dashpot
• damping coefficient (force per velocity).
• Rotary Damper
• rotary dampers will tend to oppose any torque applied to them, in an
amount proportional to their rotational speed.
• Damping coefficients is specified by torque per angular velocity.
• Eddy Current Damper
• It uses a large magnet inside a tube constructed of a non-magnetic but
conducting material (such as aluminium or copper).
• the eddy current damper produces a resistive force proportional to
velocity. Like a common viscous damper, Prof. A.R.Landge DVVPCOE Mechatronics
Dashpot

Prof. A.R.Landge DVVPCOE Mechatronics

 Dashpot Application
• Shock Absorber.
• Hydraulic cylinder in a automobile is used a dashpot.
• When piston of shock absorber m into the fluid it slower speed at the end
location shock absorber.
• Cushioning effect of hydraulic cylinder slows down speed & sudden
impact on wall of cylinder
• Door Application
• A dashpot is a component in a door closer to prevent from slamming shut.
• A spring applied force to close the door again when open.
• Fluid pass through the orifice of piston which also resist the fast
movement of door.
Prof. A.R.Landge DVVPCOE Mechatronics
 Gears
• A gear is a kind of machine element in which teeth are cut around
cylindrical or cone shaped surfaces with equal spacing.
• By meshing a pair of these elements, they are used to transmit
rotations and forces from the driving shaft to the driven shaft.
• Gears are used between two shaft by meshing without any slip.
• Gear with more number of teeth is called the “Gear” and the one
with the smaller number of teeth is called the “pinion”.
• When pinion is the driven, it results in step down drive in which the
output speed decreases and torque increases
• When the gear is the driven, it results, in step up drive in which the
output speed increases and the torque decreases.
Prof. A.R.Landge DVVPCOE Mechatronics
 Types of Gears,
1. Spur Gear
• Spur gears transmit motion between two parallel shafts.
• Spur gears are a type of cylindrical gear, with shafts that are parallel
& coplanar, & teeth that are straight & oriented parallel to shafts.
• Highest efficiency , excellent Precision rating , high Accuracy
• With relatively easy production processes.
• Used in high speed & high load applications
in all types of trains
clocks, motor cycles,
household gadgets
automobiles & aircrafts. Prof. A.R.Landge DVVPCOE Mechatronics
 Types of Gears,
2. Helical Gear
• These are a type of cylindrical gear, with shafts are parallel but
teethes are inclined with axes.
• Teeth are longer than spur gears & have higher load carrying
capacity.
• Operation is smoother & quieter .
• Efficiency is slightly lower than spur gears..
• Helix angle introduces thrust on
shaft in axial direction

Prof. A.R.Landge DVVPCOE Mechatronics

 Types of Gears,
3. Double Helical (Herringbone )Gears
• Basically of two rows of helical teeth cut into one gear.
• Shafts are parallel with each other. Opposite helical tooth with or
without gap.
• Load capacity very high but manufacturing difficulty make it costlier.
• Application in high capacity reduction driver applications ,
for heavy & continuous load
like cement mills & crusher.

Prof. A.R.Landge DVVPCOE Mechatronics

 Types of Gears,
4. Internal gears
•Internal gears have teeth cut on the inside of cylinders or cones & are
paired with external gears.
•Outer gear having teeth at inside & inside gear have teeth at outside,
•Rotational directions of the internal & external gears in mesh are
same while they are opposite when two external gears are in mesh.
•Used in high speed application with reduction ratio
•E.g. planetary gear drives of automobiles
automatic transmission &
step up driver of wind mills.
Prof. A.R.Landge DVVPCOE Mechatronics
 Types of Gears,
5. Rack and pinion
• Same sized & shaped teeth cut at equal distances along a flat
surface or a straight rod is called a Gear Rack.
• Gear rack is cylindrical gear with radius of pitch cylinder is infinite.
• By meshing with cylindrical gear pinion, it converts rotational
motion into linear motion.
• Gear racks are of type straight tooth racks & helical tooth racks,
but both have straight tooth lines.
• Gear racks can be connected
end to end,by machining ends
of gear racks Prof. A.R.Landge DVVPCOE Mechatronics
 Types of Gears,
6. Bevel Gears
• Bevel gears are a cone shaped gears & are used to transmit force
between two shafts which intersect at one point (intersecting shafts).
• bevel gear has a cone as its pitch surface & its teeth are cut along cone
• Bevel gears are most often mounted on shaft that are 90 degree apart.
• .Kinds of bevel gears include
• straight bevel gears, helical bevel gears,
• spiral bevel gears, miter gears,
• angular bevel gears, crown gears,
• zerol bevel gears , hypoid gears
Prof. A.R.Landge DVVPCOE Mechatronics
 Types of Gears,
7. Worm Gear
• A screw shape cut on a shaft is the worm, mating gear is the worm
wheel, and together on non-intersecting shafts is called a worm gear
• High reduction ratio up to 400 possible.
• Friction must be reduce between sliding contact of gear surfaces
• so, hard material is used for worm,& soft material for worm
wheel.
• efficiency is low due to sliding contact,
• rotation of gear is smooth & quiet.

Prof. A.R.Landge DVVPCOE Mechatronics

 MCQ/ Short Questions
1) ____is mechanical device ,which resist motion by viscous friction
(a) Spur Gear (B) Internal Gear (C) Rack &Pinion (D) Dashpot
2) In _____ gear shafts are parallel & coplanar, & teeth are straight
& parallel to shafts
(a) Spur Gear (B) Internal Gear (C) Rack &Pinion (D) Bevel Gear
3) __gears are used to transmit force between two intersecting shafts
(b) Spur Gear (B) Internal Gear (C) Rack &Pinion (D) Bevel Gear
4) Rotation of this gear is smooth & quiet.
(a) Spur Gear (B) Worm Gear (C) Rack &Pinion (D) Bevel Gear
5) In ____gear shafts are parallel but teethes are inclined with axes
(a) Spur Gear (B) Worm Gear (C) Helical gear (D) Bevel Gear
Prof. A.R.Landge DVVPCOE Mechatronics
 Mechatronics
Unit I

Introduction to Mechatronics
Lecture 9
 Servomechanism
• Servomechanism or servo is an automatic device that uses error-
sensing negative feedback to correct the action of a mechanism ,
power source or energy
• A servo system mainly consists of three basic components –
• 1) a controlled device, 2) a output sensor, 3) a feedback system.
• This is an automatic closed loop control system as feedback signals is
used to correct the system
• In servomechanism, instead of controlling a device by applying the
variable input signal, the device is controlled by a feedback signal
generated by comparing output signal and reference input signal.
Prof. A.R.Landge DVVPCOE Mechatronics
 Servomechanism

• When reference input signal or command signal is applied to

system, it is compared with output reference signal of the system
produced by output sensor, and a third signal produced by a
feedback system.
Prof. A.R.Landge DVVPCOE Mechatronics
 Servomechanism
• This third signal acts as an input signal of controlled device.
• This input signal to device presents as long as there is a logical
difference between reference input signal & output signal of system.
• After device achieves its desired output, there will be no longer
logical difference between input signal & reference output signal of
system.
• Then, third signal produced by above said signals will not remain
enough to operate the device further & to produce a further output
of system until next reference input signal or command signal is
applied to system.
Prof. A.R.Landge DVVPCOE Mechatronics
 Servomechanism
• Primary task of a servomechanism is to maintain output of a system
at the desired value in presence of disturbances.
Advantages of Servomechanism
• Without human attendance automatically system can be controlled
• Maintenance of accuracy with mechanical load variations,
changes in environment, power supply Fluctuations, aging &
deterioration of components (regulation & self-calibration)
• Power amplification possible by controlling a high power load from
a low power command signals.
• Without use of mechanical linkages control of an output from
remotely located input (remote control, shaft repeater)
Prof. A.R.Landge DVVPCOE Mechatronics
 Servomechanism System Example
1. A household furnace co servomechanism
2. Control steering mechanism of vehicle
3. A servo robot is a robot whose movement is programmed into a
computer.
4. A servo motors is a combined with a rotary encodes or a
potentiometer to from servomechanism.

Prof. A.R.Landge DVVPCOE Mechatronics

 Servomotor
• Servomotors are used in a variety of applications in robotics that
include precision positioning as well as motion control of large
motors
• The main limitation of stepper motor is that it cannot move large
loads.
• Basically any motor can be used in a servo system, but a permanent
magnet motor is generally used.
• The servo motor shaft can be moved to a specific angular position by
sending it a coded signal.
• As long as the coded signal is applied to the input of servo, it will
maintain the position of shaft Prof. A.R.Landge DVVPCOE Mechatronics
 Servomotor
• The servo system is one in which the output is some mechanical
variable like position, velocity or acceleration
• Types of Servomotor
• The servomotor are basically classified depending upon the nature of
the electricity supply to be used for its operation
• They are classified as
1) AC Servomotor
2) DC Servomotor
a) Armature controlled
b) field controlled
3) Special Servomotor Prof. A.R.Landge DVVPCOE Mechatronics
 Servomotor Characteristics
1. Power supply voltage
Servo Motors are available as AC or DC motor.
Low power application motor can be powered from supply in the
range of 4 to 6 V.
Special motor may operate outside this range
2. Current drawn
Maximum current is drawn by motor when the maximum torque is
applied to an external load
servos have maximum currents in the range of 100 mA to 2 A
3. Operating speed.
This is defined as the time required for the shaft to reach a specified
position (normally 60O)
common servos have operating speed in range of 0.05 to 03 sec/ 60O
.
Prof. A.R.Landge DVVPCOE Mechatronics
 Servomotor Characteristics
4. Torque
servo motor must produce the maximum torque at operating speed.
Typical values are in the range of 05 to 10 kg/cm.
5. Resolution
it is the precision with which the shaft is positioned when it receives
an external command signal. Typical servos have resolution in the
range from 1O to 10O
6. Direction of rotation
Servo Motors have ability to change direction and accelerate
quickly
7. Repeatability
Servomotor must limit drift during repeated operations
8. Size and weight
Its typical weight typical ranging from 15 gram and 200 gram.
Prof. A.R.Landge DVVPCOE Mechatronics
 Servomotor Characteristics
9. Control pulse
• The pulse used to position the shaft
• Specifications for Servo Motor Selection
1. Continuous stall torque (Nm) 6. Peak current (A)
2. Peak torque (Nm) 7. Maximum constant AC input
3. Rated power (HP/kW) power (A)
4. Rated speed (rps) 8. Rotor inertia (kg m²)
5. Rated current (A) 9. Motor weight (kg)
10. use of motor for continuous
duty or intermittent duty
Prof. A.R.Landge DVVPCOE Mechatronics
 Case study Mechatronics
Design of Coin Counter/Coin Separator
Objective
• To design a coin counter which accepts mixed denomination of
coins through array of sensors;
• The sensor output is to be interfaced to electronics circuitry that
should indicate number of coins presented and total value of coins .
• These two values must be displayed in multiple display
Design Solution
• The given design can be divided into two parts:
• 1.Mechanical design 2. Electronic design
Prof. A.R.Landge DVVPCOE Mechatronics
 Design of Coin Counter/Coin Separator
• The mechanical design involves sequential alignment of coins and
should be sensed by an array of sensors .
• The electronic design involves, design of a counter to display the
coin count & value of coins .
• There should be proper interfacing of these two parts.
1. Mechanical Design
• It requires a chamber to accept mixed denomination of coins
• Also require mechanism to present the coins to sensor array which
can read their attributes & output digital signals for computations.
• DC motor moves perforated disk. As disc rotates, coin drop into
slot which contains array of sensors. Prof. A.R.Landge DVVPCOE Mechatronics
 CDesign of Coin Counter/Coin Separator
• Size, Weight and thickness of every coin is unique for different coins.
• This feature is used to determine value of coins by a well designed
sensing system .

Prof. A.R.Landge DVVPCOE Mechatronics

 Design of Coin Counter/Coin Separator
2. Electronic Design
• For determining combination of each different denominations, a set of
phototransistor - photos is used.
• The signal from these sensors are pulses of different widths with
different starting times depending upon size and speed of coin.
• The sensor output is converted to TTL signals by using schmitt
triggers so the outputs can be compatible to the electronic circuitry.
• A sequential logic circuit is designed to identify the coin correctly.
• Boolean expressions for different denominations coins is to be
developed
Prof. A.R.Landge DVVPCOE Mechatronics
Case study Mechatronics Design of Coin Counter/Coin Separator

• eg. X = A.B.C where A, B, C corresponds to sensor output

• The accumulated coin value is displayed by suitable display driver
and multiplexer circuit .

Prof. A.R.Landge DVVPCOE Mechatronics

 MCQ/ Short Questions
1) List out Specifications for Servo Motor Selection
2) List out characteristic of Servo motor
3) list out advantages of servomechanism

Prof. A.R.Landge DVVPCOE Mechatronics