MECHATRONICS

The course aims to provide students with the fundamental knowledge required for the analysis, modelling and control of mechatronic systems, with particular reference to the integration of mechanical components, sensors, actuators, measurement systems, microcontrollers and programmable controllers. The course also addresses the mechanics of robotic systems, with particular attention to the kinematic and dynamic modelling of serial manipulators, the description of their configuration through Denavit-Hartenberg parameters, the relationship between joint motion and end-effector motion, and the formulation of the dynamic equations of the manipulator.

During the course, theoretical and numerical exercises, software-based simulation activities and laboratory activities using the Arduino microcontroller and related components will be carried out. These activities are aimed at applying the methods studied to engineering problems of practical interest.

Knowledge and understanding

At the end of the course, students will know the fundamental principles of mechatronics, with particular reference to the modelling of dynamic systems, the analysis of linear systems, stability, and the integration of mechanical components, sensors, actuators, measurement systems, microcontrollers and programmable controllers. In the field of robotics, students will acquire knowledge of manipulator mechanics, the kinematic and dynamic modelling of serial robots, the description through Denavit-Hartenberg parameters, and the relationship between joint motion and end-effector motion.

Applying knowledge and understanding

Students will be able to formulate mathematical models of mechatronic systems, analyse their dynamic behaviour and assess their stability. They will also be able to use computational tools to carry out numerical simulations and apply the acquired knowledge in laboratory activities based on the use of the Arduino microcontroller, sensors, actuators and related components. In the field of robotics, students will be able to formulate and analyse kinematic and dynamic models of serial manipulators.

Making judgements

Students will be able to critically evaluate modelling and design choices related to mechatronic and robotic systems, identifying the assumptions adopted, the limitations of the models used, and the consistency between components, control architecture and required performance.

Communication skills

Students will be able to describe, using appropriate technical language, the operation of mechatronic and robotic systems, illustrating models, analysis methods and results obtained through exercises, numerical simulations and laboratory activities.

Learning skills

Students will develop the ability to independently study advanced topics in mechatronics and robotics, also through technical textbooks, component documentation, electronic device manuals and software tools.

Lectures: 21 hours
Numerical exercises: 39 hours.

If the course is delivered in blended or remote mode, appropriate adjustments may be made to the above, in order to ensure consistency with the syllabus.

Applied Mechanics (Cultural) (important)
Automatic Control (Cultural) (useful)
Foundations of Computer Science (Cultural) (useful)
Basic Electrical Engineering (Cultural) (useful)

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

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
   

The exam consists of an oral test.

During the course, applied exercises will be carried out on the course topics, aimed at the analysis, modelling and simulation of mechatronic systems using MATLAB/Simulink, as well as at the use of the Arduino microcontroller, sensors, actuators and related components.

The applied exercises, laboratory activities and topics covered during the lectures will be discussed during the oral test.

The assessment during the oral examination will be based on knowledge of the course contents, the relevance of the answers to the questions asked, the use of appropriate technical language, and the ability to make connections among the topics of the programme.

Learning assessment may also be carried out on-line, should the conditions require it.

To ensure equal opportunities and in compliance with current laws, interested students may request a personal interview in order to plan any compensatory and/or dispensatory measures based on educational objectives and specific needs. Students can also contact the CInAP (Centro per l’integrazione Attiva e Partecipata — Servizi per le Disabilità e/o i DSA) referring teacher within their department (https://www.cinap.unict.it/content/referenti).

• 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