Pengantar Mekatronika

dan Otomatisasi

Riza Muhida, PhD

Universitas Bandar Lampung

 Course Information

Nama Mata Kuliah: Pengantar Mekatronika dan

Otomatisasi
Credits: 2 credits, Semester 1, 2016/17
Instructor: Dr. Riza Muhida, M.Eng
Phone: 081219015178
E-mail: riza@ubl.ac.id
Office: M1
Texts
 Class Location and Time

Time\Day Wed

Selasa\08.0 E2.3
0-9.40
Kamis\08.0 E2.3
0-9.40
 Tugas

Detailed instructions on project report/format will be given

at a later time.
 Marking Scheme

Assessment method % contribution to final

mark
Quis 15

UTS 20

Tugas 15

Ujian Akhir 50
What is mechatronics ?

?
7
What is mechatronics ?

The technical term, Mechatronics, was coined by Mr.

Tetsuro Mori, in 1969 when he worked for Yaskawa
Electric Corporation in Kitakyushu in order to propose
the new technology to produce new machine tools by
integrating machines and electronics.

MECHA + TRONICS

mechanism electronics
8
What is mechatronics ?

Definitions of Mechatronics
“Integration of microprocessor control system,
electrical systems and mechanical system"
(Bolton, Mechatronics)

“The synergistic combination of precision

mechanical engineering, electronic control
and systems thinking in the design of
products and manufacturing processes"
(Journal of Mechatronics)
9
 What is mechatronics ?

Definitions of Mechatronics (cont’d)

“The interdisciplinary field of engineering dealing

with the design of products whose function
relies on the synergistic integration of mechanical
and electronic components coordinated by a
control architecture.“
Alciatore, D.G. and Histand, M.B.

10
 What is mechatronics ?

Definitions of Mechatronics (cont’d)

“the synergistic use of precision engineering, control

theory, computer science, and sensor and actuator
technology to design improved products and
processes“
ME Magazine

11
What is mechatronics ?

12
Key Elements of Mechatronics

Information Mechanical
Systems Systems
MECHATRONICS
Computer
Electrical
Systems
Systems

Devdas Setty, et.al., Mechatronics System Design

13
 Key Elements of Mechatronics

Information Systems
Electromechanical Real-Time Interfacing
Modeling and
Simulation D/A
Actuators
Automatic
Mechanical Electrical Computer
Control + Systems Systems Systems
Artificial Sensors
Intelligence A/D

Mechatronics Systems

14
Key Elements of Mechatronics

Bishop, ed, The Mechatronics Handbook 15

Some Technical Terms

A/D: Analog Digital Converter

D/A: Digital Analog Converter
SC: Signal Conditioning
PA: Power Amplifier
PLC: Programming Logic Controller
DAC: Digital Analog Card
PIC: Peripheral Interface Controller

16
Mechatronics Systems

Low power
Computer
A/D D/A
System

SC PA

Physical
Sensor Actuator
System
High power

SC: Signal Conditioning PA: Power amplification/modulation 17

Mechatronics Systems

Low power

A/D D/A

Computer
SC PA

Physical
Sensor Actuator
System
High power

18
Mechatronics Systems

Low power

PLC
SC PA

Physical
Sensor Actuator
System
High power
19
Mechatronics Systems

Low power

Microcontroller
SC PA

Physical
Sensor Actuator
System
High power
20
Mechatronics Systems

21
 Example of Mechatronics Systems

Intelligent Vacuum Cleaner

Roomba Intelligent FloorVac

Euroka Robo Vac

22
Example of Mechatronics Systems

• Copy machine
• Printer
• Hard disk
• Disks Drive
• etc

23
 Investigate a Computer Mouse

A mouse is a hardware device which allows the user

to control a cursor to manipulate data without
complicated commands.
The mouse or mice was invented by Douglas
Englebart in 1963, who at the time was working at
the Stanford Research Institute, which was a think
tank sponsored by Stanford University.
The Mouse was originally referred to as an X-Y
Position Indicator for a Display System.
Today, the mouse is now found on every PC
computer and used with various different GUIs.

Source: http://en.wikipedia.org/wiki/Mouse_(computing)

24
 HOW A MOUSE WORKS

The optical mechanical mouse's operation is fairly simple. As you can see in the below
illustration, the mouse movement is tracked by four parts. As the mouse is moved, the
ball rolls in the direction of the movement which, in turn, moves the roller (X or Y axis).
As the roller begins to rotate, so does the chopper / gear. The gear has small notches
within it or around the edges of it; as it rotates, light shines through the openings
which is then detected by the two light sensors which then sends the computer a signal
of that movement. The offset of the light received by the two light sensors determines
the direction of each axis.

25
 HOW A MOUSE WORKS

Within the mouse you will find a total of two rollers and choppers / gears. Each roller
represents a X or Y axis which is the Horizontal or Vertical movement of the mouse
cursor.

Figure: The inside of a typical mechanical mouse 26

MOUSE DISASSEMBLY

The illustration below shows the disassembly of a standard

mouse. As shown you can see that the internal components of a
mouse. We have illustrated the general location of four main
components within the mouse.

27
 MOUSE DISASSEMBLY
First, you will notice the two Choppers and or Gears; these two
represent the axis of where the cursor is located. The chopper
furthest to the represents the X axis, which is the vertical axis. The
other chopper, which is only partially shown, represents the Y axis,
which is the horizontal axis.

Second, you notice the mouse ball. The mouse ball is the main part
within the mouse which allows the user to move the mouse which
moves the appropriate axis which then moves the mouse cursor on
the screen.

Third, you notice the four pin Interface Cable Connection, which is
where the information is transferred from the mouse to the
computer. 28
 MOUSE DISASSEMBLY

Inside a Mouse
The main goal of any mouse is to translate the motion of your hand into signals
that the computer can use. Let's take a look inside a track-ball mouse to see how it
works:

The guts of a mouse

Source: http://computer.howstuffworks.com/mouse2.htm
29
MOUSE DISASSEMBLY
1. A ball inside the mouse touches the desktop and rolls when the mouse moves.

The underside of the mouse's logic board: The exposed

portion of the ball touches the desktop.

30
MOUSE DISASSEMBLY
2. Two rollers inside the mouse touch the ball. One of the rollers is oriented
so that it detects motion in the X direction, and the other is oriented 90
degrees to the first roller so it detects motion in the Y direction. When the
ball rotates, one or both of these rollers rotate as well. The following image
shows the two white rollers on this mouse:

31
MOUSE DISASSEMBLY

3. The rollers each connect to a shaft, and the shaft spins a disk with holes in it.
When a roller rolls, its shaft and disk spin. The following image shows the disk:

A typical optical encoding disk: This disk has 36

holes around its outer edge.

32
MOUSE DISASSEMBLY

4. On either side of the disk there is an infrared LED and an infrared sensor. The
holes in the disk break the beam of light coming from the LED so that the infrared
sensor sees pulses of light. The rate of the pulsing is directly related to the speed
of the mouse and the distance it travels.

A close-up of one of the optical

encoders that track mouse motion:
There is an infrared LED (clear) on
one side of the disk and an infrared
sensor (red) on the other.

33
MOUSE DISASSEMBLY

5. An on-board processor chip reads the pulses from the infrared sensors and turns
them into binary data that the computer can understand. The chip sends the binary
data to the computer through the mouse's cord.

The logic section of a mouse is

dominated by an encoder chip, a small
processor that reads the pulses coming
from the infrared sensors and turns them
into bytes sent to the computer. You can
also see the two buttons that detect
clicks (on either side of the wire
connector).

34
 MOUSE DISASSEMBLY
In this optomechanical arrangement, the disk moves mechanically, and an optical
system counts pulses of light. On this mouse, the ball is 21 mm in diameter. The
roller is 7 mm in diameter. The encoding disk has 36 holes. So if the mouse moves
25.4 mm (1 inch), the encoder chip detects 41 pulses of light.
You might have noticed that each encoder disk has two infrared LEDs and two
infrared sensors, one on each side of the disk (so there are four LED/sensor pairs
inside a mouse). This arrangement allows the processor to detect the disk's
direction of rotation. There is a piece of plastic with a small, precisely located hole
that sits between the encoder disk and each infrared sensor. It is visible in this
photo:

35
MOUSE DISASSEMBLY

A close-up of one of the optical encoders

that track mouse motion: Note the piece
of plastic between the infrared sensor
(red) and the encoding disk.

This piece of plastic provides a window

through which the infrared sensor can "see."
The window on one side of the disk is located
slightly higher than it is on the other -- one-
half the height of one of the holes in the
encoder disk, to be exact. That difference
causes the two infrared sensors to see pulses
of light at slightly different times.

36
MOUSE DISASSEMBLY

Data Interface

Most mice on the market today use a USB connector to attach to your computer.
USB is a standard way to connect all kinds of peripherals to your computer,
including printers, digital cameras, keyboards and mice. Some older mice, many of
which are still in use today, have a PS/2 type connector, as shown here:

37
Assignment

Pelajari salah satu mesin di bawah ini (Silahkan pilih)

1. Mesin Cuci Otomatis
2. Lift
3. Parking Gate
4. Esklator

Buat:
1. Diagram
2. Cara Kerja
3. Flow chart cara kerja

38