Mechatronics Design Workshop Thomas Villgrattner Institute of Applied Mechanics Technische Universität München thomas.villgrattner@mytum.de
Definition Mechatronics Mechanical Engineering [Mechatronics is]...the synergetic integration of mechanical engineering with electronic and intelligent computer control in the design and manufacturing of industrial products and processes. Mechatronics Harashima, F.; Tomizuka, M.; Fukuda, T.: Mechatronics What Is It, Why, and How? An Editorial. IEEE/ASME Transactions on Mechatronics 1 (1996) 1, pp. 1/4 2
Motivation Special aspects: Close collaboration of different disciplines Parallel procedure Increase productivity Development of highly integrated Systems: Deal with complex challenges Small package dimensions Elimination of components Low weight High dynamics Greater reliability 3
Selected Mechatronic Systems at AM TUM Mechatronics 4
Modular and Hierarchical modified from Lückel et al. 2000 5
Mechatronic System Bishop 2005 6
Kinematic Scheme: Mechanics Direct/inverse kinematic Solution: 7
Mechanics CAD based development: Dynamic Simulation Model: 8
Actuators Huge amount of different principles and configurations Electrical motors DC motors Stepper motors Brushless (servo) motors Pneumatic actuators Hydraulic actuators Piezo actuators Shape memory alloys Electro active polymers Electrodynamic/electromagnetic actuators (voice coils)... Festo AG & Co. KG 2011 Physik Instrumente (PI) GmbH & Co. KG 2011 Maxon Motor AG 2011 Hytec Hydraulic OHG 2011 AM TUM 2011 9
Actuators output capabilities Force/speed capabilities Force/displacement capabilities Force/positioning capabilities (closed loop) Power density (without energy generation) Plots taken from: Isermann R., Mecheatronic Systems Fundamentals, Springer 2003 10
Sensors Huge amount of different principles and configurations Different control level require different sensors Incremental angle sensors Vision system (stereo cameras) Inertial measurement unit Absolute angle sensors Force torque sensors Limit switches Temperature sensors 11
Controller Aim: Design systems with predictable behaviors Open loop control Setvalue Controller Actuator Plant Actual value Closed loop control Setvalue - Controller Actuator Plant Actual value Sensor 12
Controller Overall task planning Task planning Raw target positions Visual servoing Path planning / solving redundancy Manipulator joint control 13
Man Machine Interface MMI/HMI allows people to interact with technical systems Input Switches Keyboard Gaze direction... Output Indicator lights Buzzers Displays... Psychology Ergonomic Well structured Usability... Siemens AG 2011 Brother Industries Ltd 2011 Apple Inc. 2011 14
Mechatronic System Modeling simulation optimization development validation 15
Mechatronics: Summary Allows the development of highly integrated systems Requires a close collaboration of different disciplines Its main components are Mechanics Actuators Sensors Control HMI Procedure: modeling, simulation, optimization, development, and validation 16
Selected Literature Bishop, R. (ed.): Mechatronics: An Introduction, CRC Press, 2005 Isermann, R.: Mechatronic Systems: Fundamentals, Springer, 2003 VDI: Design methodology for mechatronic systems (VDI 2206), VDI- Gesellschaft Produkt- und Prozessgestaltung, 2004 Siciliano, B. & Khatib, O.: Springer Handbook of Robotics, Springer, 2008 Föllinger, O.: Regelungstechnik. Einführung in die Methoden und ihre Anwendung, Hüthig, 1994, in german Dix, A.; Finlay, J.; Abowd, G. & Beale, R.: Human-Computer Interaction Prentice Hall, 2003 17