Automazione Avanzata per i

Costruttori di Macchine
Tecniche di Progettazione Meccatronica per
ridurre i costi di sviluppo
Con il patrocinio di:

e con la partecipazione
dell’Università di Udine
Topics

• Mechatronics approach
• Integrated environment
• Mechatronics Toolkit (by LabVIEW)
• Two simple examples
WHAT IS MECHATRONICS?
 The definition of mechatronics has evolved since the
original definition by the Yaskawa Electric Company

The
. word, Mechatronics, is composed of
‘mecha’ from mechanism and the ‘tronics’
from electronics.

In other words, technologies and developed

products will be incorporating electronics
more and more into mechanisms, intimately
and organically, and making it impossible to
tell where one ends and the other begins
Mechatronics is a natural stage in the
evolutionary process of modern
engineering design
The definition of mechatronics continued to evolve after Yaskawa suggested the original
definition. One often quoted definition of mechatronics was presented by Harashima,
Tomizuka, and Fukuda in 1996.

the synergistic integration of mechanical

engineering, with electronics and intelligent
computer control in the design and manufacturing
of industrial products and processes.
Machine Design
 Traditional Approach: Design
Requirements to Mechanical Concept
Mechanical
Design
Conceptual
Requirements
Design

• Milling aluminum
• Up to 10 by 15 cm
• 3 parts per minute
• 5 µm
• Light curtains,
emergency stop
• <$50,000

3D CAD Model
Traditional Approach to Electromechanical
Machine Design

Embedded Embedded
System Mechanical Electrical Control
Hardware Software
Specification Design Design Design
Design Design

Prototype Manufacturing Support

Sustaining
Validation, Test System Manufacturing &
Engineering
Optimization Design Service

..sequential approach
 Mechatronics Approach to Machine Design

Mechanical
Design

Electrical Physical
Design Prototype
Virtual Support
System Manu- Sustaining
Prototype &
Specification facturing Engineering
Embedded (Simulation) Manufacturing Service
HW/SW Test System
CoDesign Design

Control
Design
..concurrent approach
Virtual Prototype Validation
Mechatronics Approach: Concurrent
Development (Design Tool Integration)
Mechanical
Design

Electrical
Design Virtual
Prototype
Control (Simulation)
Design

Embedded
Design
Open Connectivity to Design Tools
Mathematics Electrical Design Control Design
NI LabVIEW Math NI LabVIEW (Motor Sizing) NI LabVIEW Control Design
The MathWorks, Inc. MATLAB® NI Multisim The MathWorks, Inc. Simulink®
Maplesoft Maple ORCAD PSpice Dynasim Dymola
MathSoft Mathcad Plexim PLECS
Ansoft Designer

Embedded Software Mechanical Design

NI LabVIEW Real-Time/Embedded Virtual SolidWorks SolidWorks
Wind River Workbench Prototyping PTC Pro/Engineer
Analog Devices VisualDSP++ Platform MSC Nastran and Adams
Freescale Code Warrior Autodesk AutoCAD
Xilinx System Generator

MATLAB® and Simulink® are registered trademarks of The MathWorks, Inc.

Mechatronic Approach
Software Tools
• The toolkit is designed to enable virtual machine prototyping; the use
of electromechanical simulation and design validation techniques to
help you lower the cost and risk of designing machines with electronic
control systems and motor drive actuators.
• If you have a SolidWorks 3D CAD model, you could be simulating the
mechanical and electrical performance of your machine in minutes.

SolidWorks – LabVIEW
Interface Functions
NI LabVIEW-SolidWorks Mechatronics
Toolkit (Alpha version 01)
•Motion trajectory design
•Visualization
•Collision detection
•Throughput time studies
•Motor, drive and transmission sizing
Case studies

LANS – A special robot for NeuroSurgery

(Universities of Padova, Udine and
Florence)

MODUS – A simple mechatronic system

for gates automation (by KING Gates ®)
Example 1: Surgical Robot Path Plannig
non-spherical shape
tumor

axis

multiple target
multiple target

19
20
 Mechatronics Toolkit
• Trajectory Data

• Collision Data

Virtual
Physical Prototype
System
Surgical Robot Path Plannig
LabView and SolidWorks can help both
the generation and the validation of the
suitable trajectory for the surgical tool
Path Planning with constraints <--->
MotionAssistant (LabVIEW toolkit)

Path Validation ßàCosmosMotion (by

SolidWorks)
• Example 2: Industrial Application

TARGET:

Design a new
actuator for gates and
doors automation
Traditional Approach

Kinematic Analysis
y Dynamic Analysis
C

x th

Links
Joints Forces
B
O q

C
z1
optimization
y z5
A z2
x z5 th

O q
C
B
Motor sizing
y
z3 z4

x th
A B
O q

Links and joints

A
design
 Kinematic Analysis

Dynamic Analysis
C
y

O q
x
B
th
Mechanical tests
Joints Forces
Electrical tests
z1

Electronic devices
z5
A C
z2
y
z5

x th

O q
z3
C
B
z4
Firmware Software tests
y

x th
A
B
O q

A
 Hardware in the Loop

Mechatronics Toolkit
• Trajectory Data
• Acceleration and • External Forces*
Velocity Vectors
• Model Parameters*
• Kinetic Energy*
• Collision Data
• Friction Values*
Physical
Prototype

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