ME 487 Mechatronics. Office: JH 515, Tel.: (505)

Transcription

1 ME 487 Mechatronics Instructor: Assistant: Dr. Ou Ma Office: JH 515, Tel.: (505) Xiumin Diao (Ph.D. student) Office: JH 608, Tel.: (505) Dept. of Mechanical Engineering, NMSU

2 What is Mechatronics Mechatronic System: A machine combining electronic and mechanical components with modern controls and microprocessors Examples: Fingers Coffee Soccer Drink filler Walker Fish ISS ops Satellite docking Mechatronics: A subject which studies the principles, analysis, design, and operation of electro-mechanical systems A field crossing the boundaries of traditional engineering disciplines such as mechanical engineering, electronic engineering, and computer engineering A new course which was just been added into engineering curriculum recently years by many universities

3 Main Topics Topics Time allocation Readings Introduction and basics review 1 week Ch.1-3 System response 1 week Ch.4 Sensors 1.5 weeks Ch.9 Actuators and mechanical actuations 1.5 weeks Ch.10 Signal processing & computer interfacing 3 weeks Ch.5,7,8 Modeling of mixed dynamic systems 1 week Handouts Mechanical motion control 2 week Handouts Design & simulation using Matlab/Simulink 1 week Handouts Overview of Robotics 1 week Handouts Course projects 15~20 hours Handouts One lecture/classroom hour is equivalent to 3 experiment/lab hours

4 Textbook, References, and Software Required Materials: 1. Introduction to Mechatronics and Measurement Systems, D. Alciatore & M. Bistand, McGraw Hill, 2nd Edition, Handouts for stuff not covered by the textbook Required Software Access (for projects): Matlab & Simulink References: Mechatronics, an Integrated Approach, de Silva, CRC 2004 Mechatronics, Dan Necsulescu, Prentice Hall, 2002

5 Schedule and Grading Lecture Time: 2~3 hours weekly MWF 13:30-14:20 Office Hours: Project Time: Assignments: TBA º 15~20 hours Assigned weekly Due one week later (late submission is unacceptable) Experiments: Lab Facilities: 1) Motion sensors 2) Automated motion control 3) Robotic manipulation 4) TBA ME Mechatronics lab JH503, Robotics Lab JH608 EE Control Lab T&B103 Grading: Assignments 25% Projects 25% Midterm exam 25% Final exam 25%

6 Overview of a Mechatronic System

7 Overview of a Mechatronic System Display Feedforward Loop Human Command (Microprocessor) D/A Converter Drivers (Amplifiers) Actuators Mechanical system Work A/D Converter Signal Conditioning Sensors Feedback Loop

8 Overview of a Mechatronic System (a) Operator-in-the-Loop Configuration Configurations (b), (c), and (d) are automatic systems Human Operator Stationary Onboard Processors Electro-mechanical System (b) -in-the-loop Configuration Human Operator Stationary Onboard Processors Electro-mechanical System (c) DSP-in-the-Loop Configuration Human Operator Stationary DSP Electro-mechanical System (d) Embedded -in-the-loop Configuration Human Operator Stationary Onboard Processors Electro-mechanical System Real-time Communication Non-Real-time Communication

9 Difference between Mechatronics and Robotics Mechatronics and Robotics are similar in the sense that they both deal with computer or microprocessor controlled machines. However, there are differences between the two subjects. Robots can be seen as general-purpose and intelligent mechatronic systems Robotics (ME 526) Mechatronics (ME 487) - Dealing with specialized mechatronic systems - Dealing with general mechatronic systems - Focusing on sophisticated SW and Control - Focusing on lower-level SW and control - General-purpose automated machines - Single-purpose automated machines - Coordinated multiple degree-of-freedom - Single dof or uncoordinated multiple dofs - Dynamics, control theory, AI, CS, etc. - Simple dynamics, mechanisms, electronics. - Sophisticated control systems - Simple analog, digital or logical controls - More mathematics for analysis - Simple methematics for analysis - Graduate course in most universities - Senior undergraduate course in most universities