MECHATRONICS
Academic Year 2022/2023 - Teacher: PIETRO DAVIDE MADDIOExpected Learning Outcomes
Course Structure
Lectures for 25 hours
Numerical exercises for 37 hours.
If the teaching will be carried out in mixed mode or remotely, it may be necessary to introduce changes with respect to previous statements.
Required Prerequisites
Attendance of Lessons
Detailed Course Content
- Introduction to mechatronics
- Systems, models and their classification
- System description: input/output, state variables
- Mathematical model of a system
- System properties
- Mathematical models of physical systems
- Components of mechatronic systems
- Mechanical components
- Measurement systems
- Actuators
- Sensors
- Pneumatic and hydraulic systems
- Microprocessors and microcontrollers
- Programmable logic controllers
- Stability of linear systems
- Micro and nano mechatronics
- 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
- Applications
- Vibration isolation
- Effects of transducer dynamics
Textbook Information
- De Silva, Mechatronics an integrated approach, CRC Press
- Jacazio G., Piombo B. - Meccanica Applicata alle Macchine, vol. III, Levrotto & Bella, Torino 1994
- Ville Kaajari, Practical MEMS, Small gear publishing
- Jorge Angeles, Fundamentals of Robotic Mechanical Systems - SPRINGER
- Appunti del corso
- William Bolton, Mechatronics - Electronic control systems in Mechanical and Electrical Engineering, Sixth Editiom, PEARSON
Learning Assessment
Learning Assessment Procedures
The exam consists of an exercise and an oral test.
The exercise consists in analyzing and simulating a dynamic system, with the insertion of a regulation system, using the Matlab / Simulink work environment. At the end of the exercise, a short report must be produced which will be delivered and judged during the examination.
The assessment during the oral exam will be based on the knowledge of the contents, the relevance of the answers to the questions asked, the technical language properties and the ability to make connections between the contents of the program.
The exam can also be carried out online if necessary.
Examples of frequently asked questions and / or exercises
The candidate describes the systems, models and their classification
The candidate describes the mathematical model of physical systems
The candidate describes the components of mechatronic systems
The candidate describes the sensors and their characteristics
The candidate describes an example of mechatronic systems
The candidate describes the parameters of H-D
The candidate exposes the kinematics of the serial / parallel manipulators
The candidate exposes the dynamics of serial / parallel manipulators