INTRODUCTION TO

MECHATRONICS
INTRODUCTION TO MECHATRONICS

Evolution of automated systems:

1. Completely mechanical automatic systems (before and
early 1900s)
2. Automatic devices with electronic components such as
relays, transistors, op-amps (early 1900s to 1970s)
3. Computer controlled automatic systems (1970s–present)
INTRODUCTION TO MECHATRONICS
• Early automatic control systems performed their
automated function solely through mechanical means.
• For instance, a water level regulator for a water tank uses a
float connected to a valve via a linkage.
• The desired water level in the tank is set by the adjustment
of the float height or the linkage arm length connecting it to
the valve.
• The float opens and closes the valve in order to maintain
the desired water level.
INTRODUCTION TO MECHATRONICS
• A mechatronic system has at its core a mechanical system
which needs to be commanded or controlled by a controller.
• The controller needs information about the state of the
system. This information is obtained from sensors.
• In many cases, the signals produced by the sensors are not in
a form ready to be read by the controller and need some
signal conditioning operations performed on them.
• The conditioned, sensed signals are then converted to a digital
form by Analog-to-Digital Convertor (ADC) and are then sent
to the controller.
INTRODUCTION TO MECHATRONICS
• The controller is the ‘mind’ of the mechatronic system,
which processes user commands and sensed signals to
generate command signals to be sent to the actuators in
the system.
• Actuators are devices that can convert electrical energy to
mechanical energy
• The user commands are obtained from a variety of
devices, including command buttons, graphical user
interfaces (GUIs), touch screens, or pads.
INTRODUCTION TO MECHATRONICS
• In some cases, the command signals are sent to the
actuators without utilizing any feedback information from
the sensors. This is called open-loop system, and for it to
work, this requires a good calibration between the input
and output of the system.
• The more common mode of operation is the closed-loop
mode in which the command signals sent to the actuators
utilize the feedback information from the sensors. This
mode of operation does not require calibration
information.
WHAT IS MECHATRONICS?

• The word mechatronics is composed of “mecha” from

mechanical and the “tronics” from electronics.
Mechanical + Electronics = Mechatronics
“Mecha” + “tronics” = Mechatronics
• The term “Mechatronics” was coined by Tetsuro Mori, a
senior Japanese engineer at Yasakawa Company in 1969.
MECHATRONICS

• Mechatronics is synergistic integration of mechanical

engineering, electronics engineering, control engineering
and computer science.
• Mechatronics engineering is the design of computer-
controlled electromechanical systems. • A mechatronic
system is a computer controlled mechanical system.
MECHATRONICS
MECHATRONICS
DISCIPLINARY FOUNDATIONS OF
MECHATRONICS

• Mechanical Engineering Information Mechanical

Systems
Systems

• Electrical Engineering
Mechatrnoics

• Computer Engineering Computer

Electrical
Systems
Systems
• Computer/Information Systems
MODEL OF A TYPICAL MECHATRONIC SYSTEM
MODULES OF A MECHATRONIC SYSTEM
1. Sensing
I. Sensors
II. Signal Conditioning
III. Analog-to-Digital and Digital-to-Analog Conversion
2. Control
I. Open Loop and Closed Loop Control
3. Action
I. Drive Circuits
II. Actuators
III. Motors
COMPONENTS OF A MECHATRONIC SYSTEM

• Mechanical
• Electronics
• Sensors
• Actuators
• Control
• Computing
COMPONENTS OF A MECHATRONIC SYSTEM
KEY ELEMENTS OF MECHATRONIC SYSTEM
SYSTEMS
1. Mechatronics involves various
systems:
• measurement, drive and
actuation, control,
microprocessor, analytical.
2. System: black box which has an
input and an output.
• Not concerned with what
happens inside the box.
• Interested only in the
relationship between the
output and the input
MEASUREMENT SYSTEMS

1. Made up of three elements

• Sensor – responds to the quantity being
measured by giving as its output a signal
related to the quantity
• Signal conditioner – manipulates the output of
the sensor into a condition suitable for display
or use to exercise control
• Display – output is displayed
 MEASUREMENT SYSTEMS

• Digital Thermometer

• The thermocouple is a transducer that converts temperature to a small

voltage.
• The amplifier increases the magnitude of the voltage.
• The A/D converter is a device that changes the analog signal to a coded
digital signal
• The LEDs display the value of the temperature.
CONTROL SYSTEMS
1. There are two basic forms of control systems:
• Open-loop; closed-loop
2. Feedback control systems are widespread in
nature, at home, in industry …
• Reference signal
• Signals are fed back from the output
• Error measurement
• Appropriate response signal.

Example of feedback systems

• Human body temperature control, room
temp control, control for hand positioning.
OPEN LOOP SYSTEM CLOSED-LOOP SYSTEM
FOUR BASIC FUNCTIONAL BLOCKS

• Every computer controlled system has four basic

functional blocks:
1. A process to be controlled
2. 2. Sensors
3. 3. Actuators
4. 4. Controller
HUMAN CONTROLLED SYSTEM AND
COMPUTER CONTROL SYSTEM
HUMAN CONTROLLED SYSTEM AND
COMPUTER CONTROL SYSTEM

The analogy between a human controlled system and computer control

system.
• If a process is controlled and powered by a human operator, the
operator observes the behavior of the system (i.e. using visual
observation), then makes a decision regarding what action to take, then
using his muscular power takes a particular control action.
• One could view the outcome of the decision making process as a control
or decision signal, and the action of the muscles as the actuator signal
which is the amplified version of the control (or decision) signal.
The same functionalities of a control system can be automated
by use of a digital computer.
• The sensors replace the eyes, the actuators replace the
muscles, and the computer replaces the human brain.
• Every mechatronic system has some sensors to measure the
status of the process variables.
• The sensors are the “eyes” of a computer controlled system.
• Actuators are the “muscles” of a computer controlled system.
VEHICLE SPEED CONTROL
EXAMPLES OF MECHATRONIC SYSTEMS
• Antilock Brake System (ABS)
• Electronic Fuel Injection (EFI)
• Traction Control System (TCS)
• Adaptive Cruise Control (ACC)
• Automatic Camera
• Scanner
• Hard Disk Drive
• Industrial Robots
• Mobile Robots (Wheeled Robots, Legged Robots)
BENEFITS OF MECHATRONIC SYSTEMS

• Enhanced features and functionality

A mechanical design typically provides only one function. Designing with
a microcontroller offers the flexibility of adding features like LCD displays,
lighting LEDs, a user interface, programmability, safety features, speed
control etc. Modern washing machines, for instance, offer many features
over the mechanical designs of old. These features include a display that
gives cycle information as well as providing a stain removal guide. These
machines use microcontrollers to efficiently vary the speed of different
cycles based on the content being washed.
BENEFITS OF MECHATRONIC SYSTEMS
• More user-friendly
Mechatronic systems are more user-friendly e.g. power door locks,
keyless entry, cruise control etc.
• Precision control
Flow rate, speed, position, and any number of other variables can
be controlled precisely with a microcontroller. Cruise control in an
automobile is a great example of how a mechatronic solution
allows for precise control. In order to give the car a smooth
acceleration to the desired speed as well as maintaining a constant
velocity over varying load conditions.
BENEFITS OF MECHATRONIC SYSTEMS
• More efficient
The efficiency of a system can be improved by adding intelligence to
the design. Certain portions of the system can be shut-off when not
in use or a microcontroller can make better use of the energy
available.
• Lower cost
A complex mechanical solution may be simplified using a
microcontroller-based approach. Design time, product size, and
reliability can all be improved with a mechatronic solution.
BENEFITS OF MECHATRONIC SYSTEMS
• Flexible design (reprogrammable)
Mechatronic systems are flexible and can be easily switched to perform
different jobs by simply changing the robot control program. This procedure
is called "reprogramming“.
• More reliable
Mechanical designs are prone to wear and tear over time.
For example mechanical odometers use a direct drive system that consists of a
flexible cable running from the transmission to the odometer gage. The
solution is unreliable because the cable is prone to failure. The modern
mechatronic solution consists of an optical encoder and digital display, which
increases system reliability.
BENEFITS OF MECHATRONIC SYSTEMS
• Smaller size
Adding a microcontroller to a system may result in space
savings.
• Safer
Adding intelligence to a system makes it safer. Whether
you add an automatic shutdown to a coffee pot or sense
when a system is overheating, numerous safety checks
can be easily added to a system when a microcontroller is
controlling the system.
 Mechatronics Systems
Computers

Tools Cars

Consumer
Electronics
Stealth Bomber

High Speed Trains

MEMS

Micro to Macro
Applications
 Mechatronics Systems
-Manufacturing Applications-
Micro Factory
Micro Factory Drilling Unit
•Desktop sized Factory
•Build small parts with a small
factory
•Greatly reduces space, energy,
and materials
 Mechatronics Systems
-Manufacturing Applications-
CNC Bending
•Fully automated bending: load
sheet metal and the finished bent
parts come out
•Can bend complex shapes
 Mechatronics Systems
-Manufacturing Applications-

CNC Machining

Advantages
•Deliver the highest accuracies
•Can create very complex shapes
 Mechatronics Systems
-Transportation Applications-
Automobiles
Typical Applications
•Brake-By-Wire system
•Steer-By-Wire
•Integrated vehicle dynamics
•Camless engines
•Integrated starter alternator

OEM Driven
•Reliability
•Reduced weight
•Fuel economy
•Manufacturing flexibility
•Design freedom
•Advanced safety features
•Cost
 Mechatronics Systems
-Transportation Applications-
High Speed Trains
•Train Position and Velocity
constantly monitored from
main command center.
•Error margin in scheduling no
more than 30 seconds
JR-Maglev
•Fastest trains use magnetic Top Speed: 574 km/h (357 mph)
levitation Country: Japan

Magnetic Levitation

Transrapid
Top Speed: 550 km/h (340 mph)
Country: German
 Mechatronics Systems
-Smart Robotics Application-
BigDog

System Can
•Carry 340 lb Advantages
•Run 4 mph •Robot with rough-terrain mobility that could
•Climb, run, and walk carry equipment to remote location.
•Move over rough terrain
 Mechatronics Systems
-Smart Robotics Aplications-

Vacuum Floors
•Robots can vacuum floors and
clean gutters so you don't have to.

Cleans Gutter
 Mechatronics Systems
-Space Exploration Application-
Phoenix Mars Lander's

System Can
•Collect specimens
•Has automated onboard
lab for testing specimens

Advantages
•Robot that can travel to other
planets and take measurements
automatically.
 Mechatronics Systems
-Medical Applications-

Prosthetics
•Arms, Legs, and other body parts
can be replaced with
electromechanical ones.
 Mechatronics Systems
-Medical Applications-
Pace Maker
•Used by patients with slow or
erratic heart rates. The pacemaker
will set a normal heart rate when it
sees an irregular heart rhythm.

Implantable Defibrillation
•Monitors the heart. If heart
fibrillates or stops completely it will
shock the heart at high voltage to
restore a normal heart rhythm.
 Mechatronics Systems
-Defense Applications-

•Advanced technology is making

our soldiers safer. Stealth Bomber
•Some planes can now be flown
remotely.

Unmanned Aerial Vehicle

 Mechatronics Systems
-Sports Applications-
Running Shoes

Advantages
•Automatically changes
cushioning in shoe for
different running styles and
conditions for improved
comfort