Mechatronic Approach Research Articles

Predesign of a flexible multibody system excited by moving load using a mechatronic system approach

In this paper, a new analytical approach to object oriented modeling is presented for the predesign of a multibody system. We investigate the dynamic behavior of a system of interconnected components using the modeling language Modelica. In engineering, beam-masses are often used as design models. In fact, the considered system is composed of a flexible beam subjected to a moving load and supporting one or more translating elastic subsystems. Each subsystem is controlled by a vibration absorber and the structure is affected dynamically only through the moving character of the load. The problem of calculation of the dynamic response of this system is very important in many engineering applications such as in the predesign and analysis of a robotic portal systems, machine tools and bridge crane systems. The object oriented modeling approach will be presented to demonstrate the importance of this approach to parametric investigation. It will illustrate how subsystems from Modelica Standard Library can be connected to the developed structure in order to study the vibrational behavior of such a system. For validation purpose, results are compared with those reported in the literature.

Information model to support PLCOpen Motion Control programming from Mechanical Design

The design of automated industrial machinery involves different areas of engineering, each of which employs its own and different information representation systems and software tools. The lack of a common information model to collect and organize the essential common data of each technology, prevents collaborative multidisciplinary engineering work, which complicates the use of a mechatronic approach. This article proposes the structure of an information model that allows to include geometric, kinematic and logical information related to the tools and objects that the machine manipulates, organized hierarchically according to the mechanical structure of the machine. This model complements an earlier development by the authors by calling MMCS “Mechanical and Motion Control Schematics”, which focuses on graphical representation. By combining them, the dynamic behavior can be visualized together.

РОЗРОБКА МЕХАТРОННОГО МОДУЛЯ ДЛЯ СИСТЕМИ УПРАВЛІННЯ ВИСІВОМ

Existing control systems of sowing machines are intricate and not reliable enough. In these systems, devices are connected by a variety of signal and power wires. This leads to a "problem of interfaces" and a decrease in the efficiency of the control process. The solution to this problem is based on the mechatronic approach or combining elements and control units into mechatronic modules. They are characterized by reliability, compact design and lower cost. The improvement of functional and structural integration of the control system components by their integration into the mechatronic module is considered. The module of regulation of seeding rate on the basis of software and hardware platform Arduino is developed. The work of the proposed control system when changing the seeding rate in the seeding system is studied.

Design and development of a 5R 2DOF parallel robot arm for handling paper pot seedlings in a vegetable transplanter

This paper presents a complete mechatronic approach in designing and developing a robotic arm for handling paper pot seedlings in a transplanter for the purpose of inclusion of automation and possible reduction of heavy mechanical components in pot seedling transplanters by utilizing microcontrollers and embedded systems. The robot arm developed was of two degrees of freedom (DOF), five revolute joints (5R) with parallel arm structure using 3D printed parts, commercially available embedded microcontrollers and sensors. The gripper which was connected to the parallel robot arm performed pick and place operations at a desired path. For achieving the preferred maximum and minimum reach of the gripper, a suitable method for synthesizing the link length has been discussed. A complete logical technique to program microcontrollers was developed which enabled smooth actuation of both the independent input links simultaneously. Parabolic blends were utilized at the beginning and at the end of the robot input joint trajectory for minimizing dynamic vibrations during continuous operation. The developed robot arm was flexible to change the number of pickup points in a row, pickup and drop co-ordinates within the workspace envelope. Finally, the robot arm was tested and evaluated for picking and placing 15 numbers (4 replications, 60 runs) of actual paper pots filled with vermicompost, soil and sand. Each pot weighed approximately 80 g with a moisture content of approximately 5%. The robot arm took 2.1 to 2.4 s to pick and drop a pot seedling from a distance of 116.6 mm with a maximum power consumption of 20.47 W. Experimental results showed that no pots were missed in picking and dropping, no visual cracks and damage appeared on the pots. The repeatability of the robot arm was 2.1 mm in X-axis and 3.4 mm in Y-axis.

Sugar cane Canopy Spraying: A Perspective Solution with Ergonomics and Mechatronics Approach

Chemicals application is very significant for control of disease and insect infestation in sugar cane crop. The problem observed with existing practice is inefficient spraying due to inconvenience of operation as workers are prone to injuries and working above shoulder height results in postural stresses as sugar cane being a tall crop. To overcome these issues, a novel approach to develop canopy sprayer for sugar cane crop based on the application of mechatronics and ergonomics is worked out that consists of self-propelled e-powered unit, sensor-based foldable spraying system, operable conditioned system with control monitor unit. It will be equipped with variable height platform for safety and comfort of operator along with effective spraying at desired height.

A mechatronic approach for ball screw drive system: modeling, control, and validation on an FPGA-based architecture

This paper presents a novel mechatronic approach to modeling, control design, and experimental validation of a two-axis high-accuracy ball screw drive system. At first, a general mathematical model is developed by the Lagrange’s equation of Motion to characterize the dynamic behaviors of all the variables for an N-degrees of freedom system that includes electric behavior of the DC motors. Thus, the model provides a general framework for the control algorithm design. A robust PD-hyperbolic–type control strategy is proposed based on the representation of a nonlinear dynamic model for the trajectory tracking that solves the problem of regulation and position control. The stability method of Lyapunov is applied; in addition, the asymptotic stability of an equilibrium point is analyzed for the closed-loop dynamic model. The proposed control law ensures the dynamic performance of the closed-loop signals and desired tracking precision. On the other hand, the description of a new and original FPGA-based programmable microprocessor design is introduced which consists of its own design approaches of a hardware/software architecture. Finally, based on a built prototype of a ball screw drive system, experimental tests and simulations with motion trajectory tracking are conducted to verify the proposed general mathematical model and the control law. Experimental results demonstrate an excellent tracking trajectory and desired precision performance, which validates the feasibility and effectiveness of the proposal.

Intelligent Braking System

The braking system discussed in this paper focuses on a mechatronics-based system, which is able to detect obstacle in front of the vehicle. The drawbacks found in conventional system can be removed using mechatronics approach. Humans using the vehicle may not be able to assess the situation at which brake is to be applied. Therefore, there is need to help the driver by using electronic components. Different electronic components will be used to determine the time at which brake is to be applied. Even, if the driver is not able to react to the situation, mechatronic system will apply brake on its own. The most common causes of accidents are unconsciousness of driver, failure of braking system, road condition, uncontrollable speed of vehicle. Thus, there is need to automatically control the vehicle using electronic devices. Therefore, a system known as intelligent braking system came into existence. The name intelligent is given because it can take decisions automatically depending upon the input from ultrasonic sensors.

Mechatronic Approach towards Lightweight Mirrors with Active Optics for Telescope Systems

Midsized telescopes currently receive a lot of interest due to their application in free space optical communication and space debris observation. This paper analyzes an active mirror support system of a very thin meniscus with a diameter of 1 m and 25 mm thickness for the application in a lightweight, low-cost telescope. An analytic model for self-weight surface deflection is used to determine the number of concentric continuous support rings and find their radii to sufficiently support the mirror. The obtained radii are used as initial value for a finite element analysis to include shear effects and the presence of a central hole for optical access, enabling further improvement. Following that, a transition from continuous support rings to point supports is made. With a number of 24 support points, a surface RMS error of 10.9 nm can be achieved. Additionally, the requirements for an active support to correct low order aberrations are determined.

New motion control machine elements representation for mechatronic education

The paper presents a new proposal for representing machine designs involving motion control. The new mechatronic approach for machine design is moving from a mechanic concept where mechanical transmissions, mechanical gears and coupling etc. are being implemented by electronic coupling, gears, etc. New concepts such as electronic virtual axis are also being employed very often. This brings that, in regards with machine design communication, mechanic elements represented in the past by mechanical drawings are being replaced by new electronic concepts. However, these new electronic motion control concepts should be also represented for a full understanding of the machine behaviors. Drawings are a fundamental tool to communicate preliminary designs, both in an academic and education environments as in professional ones. The new mechatronic elements graphical representation presented in the paper has the objective of bringing the gap between a pure mechanical machine design view and an automated one, including new electronic motion control concepts, and remarking the relevant “mechanic” information from the electronic motion control point of view. All this should facilitate the presentation and explanation of system-based mechatronic designs both in the classroom and at the professional level.

Development and analysis of a new technology of freight cars modernization

Paper contains a report of the part of works conducted in the research and development project concerned with a modernization of freight wagons during their periodic repair. The aim of this research was to obtain better exploitation conditions of freight cars. Two elements of those works are presented: a computer aided analysis of the freight car’s CAD model and results and analysis of the real object elements’ vibrations during exploitation. The aim of numerical analysis was to determine the maximal permitted speed at which the car does not go off the rails. These tests were performed using the “Motion Simulation” module of the software of the CAD/CAE/CAM class Siemens PLM NX. The real freight car’s elements vibration were measured and analysed in order to verify if it is possible to create a mechatronic approach for technical condition analysis of modernized freight cars during their exploitation based on their dynamic response as well as to validate the CAD model of the considered freight car.

Tactile-Based Manipulation of Wires For Switchgear Assembly

This paper presents a mechatronic approach to the robotic manipulation of electrical wires for switchgear assembly. One of the challenges is the implementation of the wire insertion task, i.e., a wire, grasped by a robot, has to be inserted into the hole of a switchgear component to be then tightened. To this aim, a tactile sensor, installed on the robot gripper, has been optimized and a suitable algorithm has been developed for the wire shape estimation. The same tactile sensor is used to automatically evaluate if the insertion task and the following tightening have been correctly completed. The proposed approach allows to reconstruct the wire end point with a precision sufficient to allow the robot correctly execute the insertion phase with a high success rate. Experimental results validate the effectiveness of the proposed approach.

A Novel Mechatronics Approach to Measure The Payload of Heavy Duty Vehicle

Abstract We are in an era of MEMS and NEMS, to be precise a product with lean and an integral of ‘n’ number of electromechanical elements. For example, nearly 80% of components are electrical/electronics in an automobile unit. This leads to think on the future market, that would witness a paradigm shift from Mechanical centric systems to Mechatronics systems. An approach was implemented in this paper to see through how a measurement of physical parameter can be dealt with principles of Mechatronics. Measurement of heavy duty vehicles payload is a concern, as there exists a difficulty in identifying the location and capacity of weigh bridge units. To address this issue an experimental and simulation approach was adopted to quantify/correlate the results.

Bond Graphs as Mechatronic Approach for Supervision Design of Multisource Renewable Energy System

This paper deals with the bond graph methodology as a decision-making tool and multiphysic approach for supervision supervision system design. The developed algorithms have been applied to a mechatronic represented by Hybrid Renewable Energy System (HRES) which consists of Solar Photovoltaic Panels (PV) and wind turbines coupled to an electrolyser for hydrogen production used an energy vector for a fuel cell.

Mechatronic design and genetic-algorithm-based MIMO fuzzy control of adjustable-stiffness tendon-driven robot finger

Abstract. This work presents a detailed design of a three-jointed tendon-driven robot finger with a cam/pulleys transmission and joint Variable Stiffness Actuator (VSA). The finger motion configuration is obtained by deriving the cam/pulleys transmission profile as a mathematical solution that is then implemented to achieve contact force isotropy on the phalanges. A VSA is proposed, in which three VSAs are designed to act as a muscle in joint space to provide firm grasping. As a mechatronic approach, a suitable type and number of force sensors and actuators are designed to sense the touch, actuate the finger, and tune the VSAs. The torque of the VSAs is controlled utilizing a designed Multi Input Multi Output (MIMO) fuzzy controller. The fuzzy controller input is the force sensors' signals that are used to set the appropriate VSA torque. The fuzzy controller parameters are then tuned using a genetic algorithm as an optimization technique. The objective function of the genetic algorithm is to avoid unbalance torque in the individual joints and to reduce the difference between the values of the supplied VSAs torques. Finally, the operation of the aforementioned finger system is organized through a simple control algorithm. The function of this algorithm is to enable the detection of the unknown object and simultaneously automatically activate the optimized fuzzy controller thus eliminating the necessity of any external control unit.

Centrally fed orifice based active aerostatic bearing with quasi-infinite static stiffness and high servo compliance

Abstract Active compensation of aerostatic bearing enhances their inherent limited stiffness and adds macro positioning capabilities. Current active solution relies on a position feedback to reach high stiffness. In this study, a novel concept that replaces costly position feedback by a self-regulating stiffening mechanism is investigated. This concept features a guided conical deformation based on integrated leaf springs. This balances the pressure and servo induced deformation, leading to quasi-infinite stiffness and high servo compliance. A lumped and a finite element models governing the static behavior are presented and benchmarked. Open loop stability is assessed using a linearized lumped dynamic analysis, and solutions based on a mechanical and a mechatronic approach are proposed. Finally, the prototype is tested in open loop, proving a quasi-infinite stiffness and a servo compliance of 3.4 μ m / A .

Mechanical Parameter Tuning Based on Iterative Learning Mechatronics Approach

In most mechatronics applications, the best control performance cannot be obtained by only shaping a control input signal because, in practice, such control is effective within only the performance range realizable by the actuator and control system. Therefore, to obtain the best control performance, the mechanical parameters should be optimally selected such that the desired control performance can be achieved with minimal control effort. However, it is difficult to accurately predict the control performance without conducting an actual experiment because the control performance is dependent on not only the mechanical design parameters, but also on various practical factors, such as the input and output saturation of the actuator, the heat problem, and sensor limitations. For these reasons, a recursive mechanical parameter tuning process based on control experiments is proposed in this paper. Based on a set of control signals (e.g., a control input and a tracking error), the proposed mechanical parameter tuning method seeks a better mechanical design parameter for improving the control performance (i.e., to reduce the control input power). For verification of the proposed method, the method was applied to case studies including simulations and experiments.

DESIGN OF INDUSTRIAL ROBOT WITH INCREASED LOCOMOTION

Urgency of the research. One of the top trends in the field of mechanical engineering is automation. An inherent part of automation in today's businesses is industrial robots of various categories. In today's industrial production, human and robot are usually separated from each other in order to avoid potential collisions. Continuous development and the growing trend of robotics, in order to increase competitiveness, abandons this individual and isolated robot deployment and prevents group-building of human-robot workplaces. Target setting. The reason for designing industrial robots with capacity around 5-10kg according to human anatomy is that the transition from semi-automated production (operating lines controlled by operators) to fully automated production requires industrial robots that have dimensions similar to human anatomy. Actual scientific researches and issues analysis. The current production of robot devices reaches a high technical level, which is further enhanced by the continued development of their subsystems, but also by the upgrading of functional principles and elements that are involved in the architecture and morphology of these devices. The research objective. To what extent is it possible for the work process to be mechanized or automated depends also on the level of development of the used equipment. In today's development stage, design of automated device is also automated. The statement of basic materials: From the point of view of approaching the design of robots systems means a common sign is a mechatronic approach. Robots technical devices are a typical product with all the features of mechatronics (linking knowledge of engineering, management methods and artificial intelligence). This becomes the starting point for the elaboration of the methods of designing robots at all. Conclusions. This article focuses on the design of the robotics devices, whose main task is to perform the assembly. The future of deploying human-robot collaboration has enormous boundaries and many variables that still need to be addressed. It is important to remember that this technology is not about replacing people with robots. Rather, it is about using robust human features and robot strengths to achieve a new level of efficiency and productivity that could not be achieved by self-employment.

Mechatronic Design for an Extrusion-Based Additive Manufacturing Machine

3D printers, especially in the implementation of innovative extrusion processes which do not have a long history of development, are often built by adapting mechanical designs, drives and controls previously developed for generic machine tools. This is done through a process of choice and integration which is based principally on empirical criteria and taking into account separately the different aspects and parameters. Hereafter, we present an integrated mechatronic approach which has been adopted to design from the scratch a machine to implement the innovative metal injection moulding (MIM) technology. Its extrusion rate involves the adaptation of the generated trajectories and consequently requires “ad hoc” designs, drives and numerical controls (NC) to enable non standard acceleration (and hence torque) setpoint curves. Overall, the project resulted in an acceptable workspace volume (depending on the number of degrees of freedom of the platform) and allows one to combine the extruder flow rate, the given accuracy and the required working speed (1 m/s). The system is currently used as a test bench for exploring and optimizing the parameter space of a new MIM process.

Mechatronic approach to inventing a novel kind of deformeter

Mechatronic approach to inventing a novel kind of deformeter

A Mechatronic Approach for the Detection of Wheel Slip/Slide and Antislip Control of Locomotive with AC Traction Motors

This paper presents a mechatronic approach for the detection of wheel slip/slide and antislip control of locomotive with ac traction motors, to enable an optimal use of adhesion in poor contact conditions. The proposed technique explores the variations in wheelset dynamic properties caused by condition changes at the wheel-rail contact and detects slip conditions from measurement of train speed with internal optical encoder of the wheelset axle indirectly. The modeling of a typical traction system, consisting of an induction traction motor (with associated power inverter and field-orientated control) connected to a wheelset via a gearbox, is introduced. The development of the slip detection and control scheme is presented, and the effectiveness of the proposed technique is demonstrated using computer simulations.