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Mechatronics

Mechatronics

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Published by ANKIT

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Published by: ANKIT on Aug 29, 2009
Copyright:Attribution Non-commercial

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01/13/2011

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ACKNOWLEDGMENT
Though perseverance and enthusiasm combined with effort in theright direction can bring forth the thing called success. But the realizationof the harsh reality that the path towards success is full of myriads,temptations, impediments and pitfalls often proves to be disheartening insuch situation, it is the able guidance of knowledgeable person that steersone through difficulties and help me achieve success.
I am highly obliged to express my deep sense of gratitude and grateful thanks to my erudite guide
Prof.H.S.DESHMUKH
and Head of Department of MechanicalEngineering,
Dr. P.A. POTDUKHE
for his valuable guidanceand support which led to the successful and timelycompletion of my project.I am secondly very thankful toyear in charge
Prof. A.V KARMANKAR
, for his valuablesuggestions & guidance.
Last but not the least; I thank all those who directly or indirectlyhelpful during my seminar preparation. 
ANKIT PRASADV SEMESTER
 
DEPT OF MECHANICAL ENGG
 
 
R.C.E.R.T, CHANDRAPURIII
 
CONTENTS
CHAPTERS PAGE
1. INTRODUCTION 11.1 Mechatronics 11.2 Description 11.3 Application 22. SERVOMECHANISM 32.1 Introduction 33. CONTROL SYSTEM 63.1 Introduction 63.2 Logic control6 3.3 On-off control7 3.4 Linear control7 3.5 Proportional control84. SENSING 94.1 Introduction 94.2 Thermal 104.3 Electromagnetic 104.4 Mechanical 104.5 Chemical 114.6 Optical radiation 114.7 Biological sensors 115. AUTOMATION 125.1 Introduction 125.2 Social impact 135.3 Current emphases 155.4 Automation tools 156. ROBOTICS 166.1 Introduction 16
 
6.2 Etymology 176.3 Components of robots 176.3.1 Actuation 176.3.2 Manipulation 19
IV
6.4 Locomotion 206.4.1 Rolling Robots 206.4.2 Walking Robots 216.4.3 Other methods of locomotion 226.5 Human interaction 247. APPLICATION OF ROBOTICS IN NUCLEAR INDUSTRIES 267.1 Walking and Climbing Service Robots for Safety Inspectionof Nuclear Reactor Pressure Vessels 267.1.1 Abstract 267.1.2Introduction 267.2 Nero series of climbing robots 277.2.1 Design Constraints 277.2.2 Mechanical System 287.2.3 Operational Experience 307.3 Sadie climbing robot 327.3.1 Grinding Application 337.3.2 Non Destructive Testing Application 347.4 Robots cleaning hazardous nuclear waste 347.4.1 WALL*E Robots 347.4.2 Fold track 357.4.3 Salt Mantis 367.4.4 Possum 367.5 Conclusion 37LIST OF FIGURESFig 1.1 Aerial Venn diagram describes the various fields that make up Mechatronics 1Fig 2.1 Small R/C servo mechanism 4Fig 5.1 KUKA Industrial robots engaged in vehicle underbody assembly 13Fig 6.1 The Shadow robot hand system holding a light bulb. 16Fig 6.2 A robot leg, powered by Air Muscles. 18

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