Mechatronics Systems

Laboratory

By Professor MEng. Jesus Ordaz

¿What is a
mechatronic system?
 CS

CO NN
EN
NI

NT ER
GI
HA

RO ING
EC
M

L
MECHATRONICS
Mechatronics
Systems
NG

EL
EC
T I

TR
PU

ON
O M

IC
C

S
 The design´s idea is to keep things simple

The first: design the overall strategy.

The second: design concept.
The third: formation of modules.
The fourth: manufacturing, design and selection of
components.
MECHANICAL LABORATORY
Mechanical Laboratory

Newton’s Laws
Newton’s First Law sets the stage for the motion of objects:

“Every body persists in its state of rest or of uniform

motion in a straight line unless it is compelled to
change that state by forces imposed on it”.

• Static: Force and moment equilibrium must exist.

! 𝐹⃗ = 0 !𝑀 = 0
Newton’s Second Law is a generalized version of the first
law:

“The acceleration of a body is directly proportional to

the resultant force acting on it and parallel in
direction to this force and that the acceleration, for a
given force, is inversely proportional to the mass of
the body”.
• Dinamic:

𝐹⃗ = 𝑚𝑎⃗ 𝜏⃗ = 𝑚𝛼⃗
Newton’s Third Law:

“To every action there is always opposed an equal

reaction or, the mutual actions of two bodies upon
each other are always equal and directed to contrary
parts”.

• Momentum : Linaer and angular

P is constant: when no external forces are applied to the system
L is constant: when no external torques are applied to the system

𝑃 = 𝑚𝑣⃗ 𝐿 = 𝐽𝑤
 Conservation of Energy
Energy is only transformed, input and output system:

Eenergyout = nefficiency × Eenergyin

E = F force out (N) × d distance out (m)

E = Γ torque (or moment) (N-m) × α distance (radians)

Mechanical Laboratory

Linkages
Linkages are the most fundamental class of machines
that humans employ to turn thought into action.

• Leonard Euler (1707-1783) was one of the first mathematicians to

study the mathematics of linkage design (synthesis) .
Most linkages are planar, their motion is confined to a
plane.

The generic study of linkage motions, planar and

spatial, is called screw theory.

• Sir Robert Stawell Ball (1840-1913) is considered the father of screw

theory.
Joint (kinematic pairs): Connection
between two or more links at their
nodes, which allows motion to
occur between the links.

Link: A rigid body that possess at

Kinematics least 2 nodes, which are the
attachment points to other links.
Chains
 Kinematics Chains

OPEN CHAIN

CLOSED CHAIN
 Kinematics Chains

OPEN CHAIN

MANIPULATOR
 Kinematics Chains

MECHANISM
CLOSED CHAIN
One element has three grades of
freedom (DOF) at the plane and
six in the space.
 Degrees of Freedom (DOF)
1. The number of input motions that must be
provided in order to provide the desired output.
2. The number of independent coordinates required
to define the position and orientation of an object.

• For a planar mechanism, the degree of freedom

(mobility) is given by Gruebler’s Equation:
Mechanical Laboratory

Mechanisms
Convert and
transmit
movement
Kinematic analysis by numerical
methods
 The Grashof criteria
“The sum of the shortest (S) and
longest (L) links of a planar four-
bar linkage cannot be greater than
the sum of the remaining two links
(P, Q) if there is to be continuous
relative motion between two
links”.
If L + S < P + Q, four Grashof mechanisms
exist: crank-rocker, double-crank, rocker-
crank, double-rocker.
If L + S = P + Q, the same four
mechanisms exist, but, change-point
condition occurs where the centerlines of
all links become collinear and the
mechanism can toggle.
If L + S > P + Q, non-Grashof triple-rocker
mechanisms exist, depending on which is
the ground link, but continuous rotation
is not possible.
Kinematic analysis with natural
coordinates in GeoGebra
Kinematic analysis with natural
coordinates in GeoGebra
Kinematic analysis with natural
coordinates in GeoGebra
Kinematic analysis with natural
coordinates in GeoGebra
Kinematic analysis with natural
coordinates in GeoGebra
Kinematic analysis with natural coordinates
Mechanical Laboratory

Bearings
Bearings are machine elements that allow
components to move with respect to each other.

• Bearing is defined by Webster’s to be “a support or supporting part”.

The bearings have only two types of motions

Linear motion or rotary motion

• Mechanical contact bearings: Sliding, Rolling, Flexing.

• Non-contact bearings: Fluid, Magnetic.

Types of Bearings (balls and rollers)

Balls

Rollers
Selection of bearings

The dry sliding bearings are only used on small

diameter axles with small load and speed; Ball
and roller bearings, in which there is rotational
movement, are used for much wider ranges of
shaft diameters, higher loads and speed, and
hydrodynamic bearings are used for loads and
diameter shafts big.
The critical design parameters are the distance
from the solid to the first bearing, the distance
between the first and second bearings, the
diameter of the shaft, and the support structure
and its loading.
 Design principles

Distance of solid to bearing should be less than 2

shaft diameters in order to prevent angular
deflections of the shaft .

The shaft in the region between the first and a

second bearings acts as a lever.

The second bearing should be at least 3-5 shaft

diameters from the first bearing.
 Saint-Venant’s Principle: Bearings

Linear Bearings:
• Make friction (μ) low and L/D > 1.

Rotary Bearings:
• L/D > 3, if the bearings are to act to constrain the
shaft like a cantilever.
• If L/D < 3, be careful that slope from shaft bending
does edge-load the bearings and cause premature
failure.
 References

1. Alexander H. Slocum, “FUNdaMENTALS of Design”, Cambridge - MIT Institute,

Massachusetts, 2007, USA.
2. Alejo Avello Iturriagagoitia, “Teoría de Máquinas”, Tecnum Universidad de
Navarra, Segunda Edición, 2014, España.
3. David H.Myszka, “Máquina y Mecanismos”, Pearson, Cuarta Edición, 2012,
México.
Prof. MEng. Jesus Alberto Ordaz Rivera

Mechatronics / Electronic Instrumentation / Biomechanics

Faculty of Electronics Sciences

jesus.ordaz@correo.buap.mx