Lesson 4

• AMEROB


  Advanced Mechatronics and Robotics
• AMEROB


  • Application of the Automation to industries and other activities to minimize the human intervention and provide consistencies
  • It is also prevents people to be exposed to hazardous environment in accomplishing the objective of the industry
• Automation


  The use of various control system used for operating equipment in various processes, including boilers and heat treating ovens, machinery, switching on telephone networks, processes in factories, aircraft control, steering and stabilization of ships, and other applications, with minimal human intervention
• Components of automation


  • Mechatronics
  • Robotics
• Robotics is a subset of Mechatronics, since all robots are mechatronics but not all mechatronics are robots
• Mechatronics


  A multidisciplinary field of science that includes a combination of Mechanical, Electrical, Electronics, Computer and Control Engineering
• Tetsuro Mori


  The senior engineer of the Japanese company Yaskawa who coined the term "mechatronics" in 1969
• Industrial robot


  • A prime example of a mechatronics system
  • Includes aspects of electronics, mechanics, and computing to do its day-to-day jobs
• Elements of Mechatronics


  • Electro-mechanical – refers to sensors and actuators
  • Electrical and Electronics – refers to electrical and electronics components. These are used to interface electro-mechanical sensors and actuators to the control interface hardware elements
  • Control interface/computing hardware elements refer to analog-to-digital (A2D) converter, digital-to-analog (D2A) converter, digital input/output (I/O), counters, timers, microprocessor, microcontroller, data acquisition and control (DAC) board, and digital signal processing (DSP) board. The control interface hardware allows analog/digital interfacing, i.e., communication of sensor signal to the control computer and communication of control signal from the control computer to the actuator
• Actuator


  A type of motor for moving or controlling a mechanism or system. It is operated by a source of energy, usually in the form of an electric current, hydraulic fluid pressure or pneumatic pressure, and converts that energy into some kind of motion. An actuator is the mechanism by which an agent acts upon an environment
• Actuator: Solenoid


  • Convert energy into linear motion
  • Magnetic coil and movable armature (iron)
  • Coil produces magnetic field that moves the armature
• Actuator: stepper motor


  • Special DC motor
  • Align shaft with electromagnets
  • Precise step-wise motion
• Actuator: AC Motor


  • Rotating electro-magnetic field (stator)
  • Rotor follows magnetic field
  • Usually high-power applications
• Actuator: hydraulic


  • Reservoir and pump
  • Pressure difference controlled by hydraulic valve
  • Linear motion of hydraulic cylinder
• Sensors: proximity


  • Detection of change of capacity in the vicinity of the sensor
  • Metallic and non-metallic objects
  • Inductive and photo-electric proximity sensors
• Sensors: Flow


  • Speed of paddle wheel (impeller) increases with flow rate
  • Other flow sensors: magnetic, pressure-based, ultrasonic
• Robotics


  An interdisciplinary branch of engineering and science which consists of Mechanical, Electrical, Electronics, and Computer Engineering
• Robot


  A word coined by a Czech novelist Karel Capek in a 1920 play titled Rassum's Universal Robots (RUR). Robot in Czech is a word for worker or servant
• Types of robots according to its built

  • Manipulator
  • Legged
  • Wheeled
  • Autonomous Underwater Vehicle
  • Autonomous Aerial Vehicle
• Types of industrial robots

  • Articulated
  • Cartesian
  • Cylindrical
  • Polar
  • SCARA
  • Delta
• Articulated robots


  • This robot design features rotary joints and can range from simple two joint structures to 10 or more joints
  • The arm is connected to the base with a twisted joint
• Five major components


  • Manipulator – Just like the human arm, the robot consists of what is called a manipulator having several joints and links
  • End effector – The base of the manipulator is fixed to base support and at its other free end, end effector is attached. This is expected to perform tasks normally performed by the palm and finger arrangements of the human arm
  • Controller – the digital computer (both the hardware and the software) acts as a controller to the robot. The controller functions as the brain of the robot
  • Sensors – measuring instruments which measures quantities such as position, velocity, force, torque, proximity, temperature, etc
• Recent advancement in robotics & mechatronics

  • MOBILITY (crawl, roll, fly, walk)
  • Power assist or support the strength limitation of people
  • HUMANOID