Mechatronic

s
ELS
5304

Ref: Mechatronics : Bradley, Dawson,

Burd,
Loader
 Design
The designProcess
process can be split into several
stages, each separated by a review and a
continue/rework/abort point.

a. Need e. Analysis and Modelling

b. Feasibility f. Embodiment
and
c. Specification Optimisation

d. Conceptual Design g. Detail Design

Ref: Mechatronics : Bradley, Dawson,
Burd,
Loader
 Types of
Design
• Design for function
• Design for strength or
stiffness
• Design for reliability
• Design for maintainability
• Design for manufacture

Ref: Mechatronics : Bradley, Dawson,

Burd,
Loader
 Mechanism
s
• Mechatronic systems require mechanisms
for various functions like
– Change of speed
– Action at a distance
– Force amplification
– Sequencing
– synchronising

Ref: Mechatronics : Bradley, Dawson,

Burd,
Loader
 Mechanisms – Load
conditions
• A mechanism experiences variety of
load conditions at both input and
output.
• It has its own inertia due to its motion
• The mechanism driver must be able to
provide sufficient force as well as torque to
cover the entire operational envelope

Ref: Mechatronics : Bradley, Dawson,

Burd,
Loader
 Structures – Load
•
Conditions
The loading on a structure must be carefully
analysed before designing adequate structure.
• The stresses may be difficult to analyse.
• Analysis by computer modelling is
helpful. TYPES :
* static loading
* dynamic and cyclic loading
* impulse and shock loading

Ref: Mechatronics : Bradley, Dawson,

Burd,
Loader
 Mechanisms – Load
conditions
Load Conditions decide
 actuator requirements
 attaining partial static balance
 articulation requirements
 speed and accuracy
 minimization of kinetic energy
 power transmission over a distance
 effect of assembly play and friction
 inertia

Ref: Mechatronics : Bradley, Dawson,

Burd,
Loader
 Mechanism -
Flexibility
• Resilience – each member of mechanism
experiences tension, bending and
torsion. Allowed loading can be
determined by mathematical modelling
• Backlash – flexibility in mechanism
causes backlash in gears or play in joints
• Vibration – flexibility in mechanism leads
to vibrations in dynamic loading.

Ref: Mechatronics : Bradley, Dawson,

Burd,
Loader
 Flexibility of
• Structures
Using microprocessors, local flexibility in
structures can be taken care of, if we use
closed loop control with feedback sensor
close to point of action
• If sensors are located far away from the
point of action then errors can result due to
flexibility of structure. So the structure will
have to be designed to be very stiff. (making
it heavy, increasing energy requirements of
robot)
Ref: Mechatronics : Bradley, Dawson,
Burd,
Loader
 Flexibility of
Structures
• Vibration Effects - Flexible structures are
prone to vibrations, particularly if excited
at natural frequencies.
• Materials – suitable choice of material
and manufactured form can greatly
affect the flexibility and life of structure.

Ref: Mechatronics : Bradley, Dawson,

Burd,
Loader
 Man-Machine
Interface
• Facility by which bidirectional transfer of
information required for system
operation takes place
• It is concerned with ergonomic aspects of the
design and covers areas such as display of
information, operator systems,
environmental factors and safety.

Ref: Mechatronics : Bradley, Dawson,

Burd,
Loader
 Safet
• Operator Safety
y
Trapping, Entanglement, Contact,
Impact, Ejection
Environment
• System Safety
Shock, Vibration, Corrosion, Fire,
Misuse Redundancy

Ref: Mechatronics : Bradley, Dawson,

Burd,
Loader
 DC
•
S
Level 0 contains the field devices such as flow and temperature sensors, and
final control elements, such as control valves
• Level 1 contains the industrialised Input/Output (I/O) modules, and
their associated distributed electronic processors.
• Level 2 contains the supervisory computers, which collect information
from processor nodes on the system, and provide the operator control
• screens.
Level 3 is the production control level, which does not directly control the
• process, but is concerned with monitoring production and monitoring targets

• Level 4 is the production scheduling level.

Levels 1 and 2 are the functional levels of a traditional DCS, in which all
• equipment are part of an integrated system from a single manufacturer.
Levels 3 and 4 are not strictly process control in the traditional sense, but
where production control and scheduling takes place.
Ref: Mechatronics :
12/11/17 Bradley, Dawson, Burd,