INTRODUCTION

ELEMENTS OF MECHATRONICS

By

V. THULASIKANTH
Assistant Professor
Mechanical Engineering Department
vtkvsk@gmail.com

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 Topics
SL.NO TOPIC

1 Introduction to Mechatronics
systems, Concepts &
Application.

2 Mechatronics System
Components with examples
3 Measurement Systems,
Control systems, Open &
Closed Loop Systems.
4 Sequential Controllers with
examples Water level
controller.
5 Shaft speed control, Washing
2 machine control.
Introduction to 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.

In 1996, Harashima, Tomizuka, and Fukuda defined mechatronics as

being the synergistic integration of mechanical engineering, with
electronics and intelligent computer control in the design and
manufacturing of industrial products and processes.

Bolton presented yet another definition by saying a mechatronic

system is not just a marriage of electrical and mechanical systems and is
more than just a control system; the mechatronic system is a complete
integration of them all.
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Mechatronics is the field of study concerned with the design, selection,
 Working definition
Mechatronics is the synergistic integration of sensors, actuators, signal
conditioning, power electronics, decision and control algorithms, and
computer hardware and software to manage complexity, uncertainty, and
communication in engineered systems.

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Graphical Representation of Mechatronics
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 Evolution of Mechatronics
Technological advances in design, manufacturing, and operation of
engineered products/devices/processes can be traced through:

Industrial revolution
Semiconductor revolution
Information revolution
Industrial Revolution

Allowed design of products and processes for energy conversion and

transmission thus allowing the use of energy to do useful work.

Engineering designs of this era were largely mechanical

e.g., operations of motion transmission, sensing, actuation, and
computation were performed using mechanical components such as
cams, gears, levers, and linkages).

Purely mechanical systems suffer from

Power amplification inability.
Energy losses due to tolerances, inertia, and friction.
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 Semiconductor Revolution

Led to the creation of integrated circuit (IC) technology.

Effective, miniaturized, power electronics could amplify and deliver

needed amount of power to actuators.

Signal conditioning electronics could filter and encode sensory data in

analog/digital format.

Hard-wired, on-board, discrete analog/digital ICs provided rudimentary

computational and decision-making circuits for control of mechanical
devices.

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 Information Revolution
Development of VLSI technology led to the introduction of
microprocessor, microcomputer, and microcontroller.

Now computing hardware is everywhere, cheap, and small.

As computing hardware can be effortlessly interfaced with real world

electromechanical systems, it is now routinely embedded in engineered
products/processes for decision-making.
Microcontrollers are replacing precision mechanical components, e.g.,
precision machined camshaft that in many applications functions as a
timing device.

Programmability of microcontrollers is providing a versatile and flexible

alternative to the hard-wired analog/digital computational hardware.

Integrated computer-electrical-mechanical devices are now capable of

converting, transmitting, and processing both the physical energy and
the virtual energy (information).

Result: Highly efficient products and processes are now being

developed by
judicious
9 selection and integration of sensors, actuators, signal
conditioning, power
 Mechatronics has evolved through the following
stages:
Primary Level Mechatronics: Integrates electrical signaling with
mechanical action at the
basic control level for e.g.fluid valves and relay switches

Secondary Level Mechatronics: Integrates microelectronics into

electrically controlled devices for e.g. cassette tape player.

Tertiary Level Mechantronics: Incorporates advanced control

strategy using microelectronics, microprocessors and other application
specific integrated circuits for e.g. microprocessor based electrical motor
used for actuation purpose in robots.

Quaternary Level Mechatronics: This level attempts to improve

smartness a step ahead by introducing intelligence ( artificial neutral
network and fuzzy logic ) and fault detection and isolation ( F.D.I.)
capability into the system.

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 Mechatronics Applications
Smart consumer products: home security, camera, microwave oven,
toaster, dish washer, laundry washer-dryer, climate control units, Automatic
Digital Cemera etc.

Computer disk VCR/DVD drives, ATM, etc

Medical: implant-devices, assisted surgery, haptic, etc.

Defense: unmanned air, ground, and underwater vehicles, smart weapons,

jet engines, etc.

Manufacturing: NC & CNC machine tools, Rapid Prototyping, robotics, etc.

Automotive: climate control, antilock brake, active suspension, cruise

control, air bags, engine management, safety, etc.

Network-centric, distributed systems: distributed robotics, telerobotics,

intelligent highways, etc.

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 Advantages of Mechatronics
Cost effective and good quality products
High degree of flexibility to modify or redesign
Very good performance characteristics
Wide are of application
Greater productivity in case of manufacturing organization
Greater extend of machine utilization

Disadvantages of Mechatronics
High Initial cost
Multi-disciplinary engineering background required to design and
implementation
Need of highly trained workers
Complexity in identification an correction of problems in the system
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 Elements of Mechatronics Sys
Actuators &
Sensors
Signals &
Conditioning
Digital Logic
System
Software & Data
acquisition
Systems

Computers &
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Display devices
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 Actuators & Sensors
Sensors and actuators come under mechanical systems

Actuators Sensors
The actuators The sensors detect
produce motion or the state of the
cause some action system parameters,
inputs and outputs
Various actuators: Various Sensors:
Pneumatic an Liner and rotaional
hydraulic actuators, sensors, acceleration
Electro Mechanical sensors, force,
actuators, torque, pressure
Piezoelectric, sensor, temperature,
Electrical Motors, i.e. proximity and light
D.C, A.C, Stepper, sensors.
Servo motors.
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 Signals & Conditioning
Mechatronic system deals with two types of signals and
conditioning , i.e. Input & Output
Input devices receive input signals from the mechatronics
system via interfacing devices an sensors.
From sensors the signal is send to the control circuits for
conditioning or processing.
Various input signal conditioning devices are amplifiers,
A2D, D2D converters .
Output signals from the system are send to the
output/display devices through interfacing devices
Various output signal conditioning devices are D2A,
display decoders, power transistors, op-amps.

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 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 (analog-to-digital) converter is a device
that changes the analog signal to a coded digital signal; and
the LEDs (light emitting diodes) display the value of the
temperature.
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 Digital Logic System
It will control overall system operation

Various digital logic systems are logic circuits, microcontrolle

timing controls

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 Software & Data acquisition Systems
Data acquisition system acquires the output signals from
sensors in the form of voltage, frequency, resistance etc.
an inputting into the microprocessor or computer.

Software is used to control the acquisition of data

through DAC board.

Data acquisition system consists of multiplexer, amplifier,

register and control circuits.

Software Examples: Ladder Logic, Visual C++, Visual

Basic, Lab VIEW, MATLAB, Lab Chart, LOX

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 Using Lab VIE

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 Computers and display devices
Computers are use to store large amount of data and
process further through software.

Display devices are used to give visual feedback to the user.

Display devices are LED, CRT, LCD, Digital displays etc.

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 Measurement System

What is a system?

Input, Output,
Electrical Power Rotaion
MOTOR

Not concentrate on what goes on inside

Concentrate only on output & Input device

Measurement system?
Output
MeasuringInput quantity Measurem the
ent value of
System quantity
Output
Input Temp. Thermometer number
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on scale
 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 (analog-to-digital) converter is a device
that changes the analog signal to a coded digital signal; and
the LEDs (light emitting diodes) display the value of the
temperature.
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 Control System
To control the output to some particular value or particular se

Input, required Central Output, temperature

temperature Heating at the set value
system

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Difference between Open loop and Closed loop
system

SI.No. Open loop system Closed loop system

1 Not using feedback Feedback using

2 Less accurate More accurate

3 Simple in construction Complicated in construction

4 Optimisation in control is not possible Optimisation in control is possible

5 Easy maintenance & cost is less Difficult to maintain & cost is more

6 Eg. CD deck, Digital thermometer Eg. Automatic water level, washing

machine
Open Loop system
Closed loop system
Basic Elements of a closed loop
system

1. Comparison element
2. Control element
3. Correction element
4. Process elements
5. Measurement elements
 Various elements for controlling
the room temperature.

Controlled variable - the room temperature

Reference value - the required room temperature
Comparison element - the person comparing the measured value wit required temp.
Error signal - difference between measured and required temperatures
Control unit - the person
Correction unit - the switch on the fire
Process unit - the heating by the fire
Measuring device - a thermometer
Shaft Speed Control
Water Level Controller
Washing machine control
Cam operated Switch
Engine Management system
Automatic Camera
The Digital Camera