Academic Year 2023/2024 - Teacher: Rosario SINATRA

Expected Learning Outcomes

The course aims to train engineering students by providing the basics of the regulation of simple and complex mechanical systems. The course is divided into two parts: the first part of the course concerns the study of control systems, modeling and system analysis, while the second part is devoted to the study of the kinematics and dynamics of robotic mechanical systems. Regarding the first part, information on actuators, sensors, and an introduction to the study of MEMS will be provided. During the course various theoretical and numerical computer exercises will be carried out.

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

Concepts of applied mechanics

Attendance of Lessons

Strongly recommended

Detailed Course Content

  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
    • Basics of parallel manipulators
  10. Applications

Textbook Information

  1. De Silva, Mechatronics an integrated approach, CRC Press
  2. Jorge Angeles, Fundamentals of Robotic Mechanical Systems - SPRINGER
  3. William Bolton, Mechatronics - Electronic control systems in Mechanical and Electrical Engineering, Sixth Editiom, PEARSON

Course Planning

 SubjectsText References
1Introduction to Mechatronics1, 2, 3
2Systems, models and their classification1, 2, 3
3Components of mechatronic system1, 3
4Pneumatic and hydraulic systems3
5Microprocessors and microcontrollers1, 3
6Programmable Logic Controllers1, 3
7Stability of linear systems2
8Micro and nano mechatronics1, 3
9Robot mechanics2

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