MECHATRONICS

Lectures for 28 hours;

Numerical exercises for 30 hours.

Should teaching be carried out in mixed mode or remotely, it may be necessary to introduce changes with respect to previous statements, in line with the programme planned and outlined in the syllabus.

1. – Introduction to mechatronics

2. – Systems, models and their classification:

• System description: input/output, state variables;
• Mathematical model of a system;
• System properties;
• Mathematical models of physical systems.

3. – Components of mechatronic systems:

• Mechanical components;
• Measurement systems;
• Actuators;
• Sensors.

4. – Pneumatic and hydraulic systems.

5. – Microprocessors and microcontrollers.

6. – Programmable logic controllers.

7. – Stability of linear systems.

8. – Micro and nano mechatronics

9. – Robot mechanics:

• HD parameters;
• Geometry of the decoupled manipulator;
• Kinematics of the serial manipulator;
• Dynamics of the serial manipulator;
• Recursive inverse dynamics;
• The natural orthogonal complement method;
• Kinematics of the parallel manipulator;
• Dynamics of the parallel manipulator;
• Dynamic performance of manipulators and design.

10. – Applications:

• Vibration isolation;
• Effects of transducer dynamics.

Introduction to Mechatronics:

Systems, models and their classification

Components of mechatronic systems

Sensors and actuators

Examples of mechatronic systems

Fundamentals of Robotic Mechanical Systems

[1] De Silva, Mechatronics an integrated approach, CRC Press

[2] Jacazio G., Piombo B. - Meccanica Applicata alle Macchine, vol. III, Levrotto & Bella, Torino 1994.

[3] Ville Kaajari, Practical MEMS, Small gear publishing

[4] Jorge Angeles, Fundamentals of Robotic Mechanical Systems - SPRINGER

[5] Appunti del corso

[6] William Bolton, Mechatronics - Electronic control systems in Mechanical and Electrical Engineering, Sixth Editiom, PEARSON