MECHATRONICS
Academic Year 2023/2024 - Teacher: Rosario SINATRAExpected Learning Outcomes
Course Structure
Lectures for 21 hours
Numerical exercises for 39 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
- Basics of parallel manipulators
- Applications
Textbook Information
- De Silva, Mechatronics an integrated approach, CRC Press
- Jorge Angeles, Fundamentals of Robotic Mechanical Systems - SPRINGER
- William Bolton, Mechatronics - Electronic control systems in Mechanical and Electrical Engineering, Sixth Editiom, PEARSON
Course Planning
Subjects | Text References | |
---|---|---|
1 | Introduction to Mechatronics | 1, 2, 3 |
2 | Systems, models and their classification | 1, 2, 3 |
3 | Components of mechatronic system | 1, 3 |
4 | Pneumatic and hydraulic systems | 3 |
5 | Microprocessors and microcontrollers | 1, 3 |
6 | Programmable Logic Controllers | 1, 3 |
7 | Stability of linear systems | 2 |
8 | Micro and nano mechatronics | 1, 3 |
9 | Robot mechanics | 2 |
Learning Assessment
Learning Assessment Procedures
The exam consists of an exercise and an oral test.
The exercise consists in analyzing and simulating mechatronic systems 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, 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
- Systems, models and their classification
- Mathematical model of physical systems
- Components of mechatronic systems
- Sensors and their characteristics
- Actuators and their characteristics
- Microcontrollers and microprocessors
- Example of mechatronic systems
- D-H parameters
- Kinematics of the serial manipulators
- Dynamics of serial manipulators