MECHATRONICS

Academic Year 2023/2024 - Teacher: PIETRO DAVIDE MADDIO

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

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

Example of mechatronic systems

D-H parameters

Kinematics of the serial manipulators

Dynamics of serial manipulators

Degree Course in

Mechanical Engineering