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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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Inte
gra
tio
n
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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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