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Mechatronics 1

Mechatronics in deep� Mechatronics is a methodology to achieve an optimal

design of electromechanical product

� Sinergy in the integration of mechanical, electrical, computer and control

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Mechanical process and information

processing towards mechatronics systems

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Facts� Many general mechatronic systems are designed in a

concurrent manner resulting in an hopefully optimized integration and configuration of standard components such as actuators, sensors, gearings and control units.

� Mechatronics development process spans over many closely coupled engineering domains.

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Needs� Optimization is achieved by treating the entire sub-

systems in integrative way during the design process.

� Parameter like inertia and electrical capacity depend on the sub-system geometry.

� Often a multi-objective optimization is needed rather than optimization on a single criterion.

� Analysis and Simulation of sub-system at an early design stage is a great help to find the optimum design solution.

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View / evaluation from different domains� Optimization on each domain

separately will not result optimum system design

� All domains should be treated concurrently, at least in the first part of the design process

� However, different engineering domains use different models and modelling frameworks during the design work� Ex. Control engineers use transfer

function / state space descriptions� Need special precaution, so that

models have direct relation to physical parameters

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Optimization criteria for automotive case

� Primary:

� Weight

� Energy-efficiency

� Others :

� Cost

� Noise / Vibrations

� Dependability / Safety

� Environmental Impact

� Modularity / Flexibility

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Software

Hardware

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Multilevel Control Architecture� level 1: low level control (feedforward, feedback for

damping, stabilization, linearization)

� level 2: high level control (advanced feedback control strategies)

� level 3: supervision, including fault diagnosis

� level 4: optimization, coordination (of processes)

� level 5: general process management

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Mechatronic Design Process in General

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Mechatronic Design Process in General (2)

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Problem Case : Robot Soccer

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Problem Case : Robot Soccer� Make a group of 3-4 people

� Discuss :

� What kind of robot soccer you would build ?

� State problems in soccer game with robot

� State solution for the problems

� Define the necessary modules (assume that you will build it from scratch)

� State the benefit of each modules

� State limitation of each modules

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Problem Case : Robot Soccer� Discuss :

� State how each module has propagative impact to other modules

� State how to evaluate the lackness of each module especially from the propagative impact (negative)

� State how to minimize those negative impacts

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References� Ros, F. and Wikander J., “Mechatronics Design and

Optimisation Methodlogy : A problem formulation focused on automotive mechatronics modules”, 2003

� Shetty, D. Et.al., “Real Time Mechatronics Design Process for Research and Education”, 2002

� Bishop, “Mechatronics an Introduction”, 2006

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