MECHATRONIC MACHINES by M7hU3M

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									        MECHATRONIC MACHINES


         Abdulkadir Erden, Prof. Dr.
         Mechatronics Engineering Department
         Atılım University




Spring 2002              Mechatronic Products/Machines   1
Some examples ...


•    ABS brake system,
•    Fuzzy logic dishwashing machine,
•    One button washing machine,
•    AGV in material handling,
•    Automated Storage and Retrieval Systems,
•    Mine Detection robots,
•    ATMs, Cash deposit machines,
•    Cameras (still & movie),
•    Video recorders, players, CD players,
•    Airplanes (Auto-pilot systems),
•    Medical devices,
•    Weapons...
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Robots for Education


• Visit http://www.robot.metu.edu.tr/




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More ...




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Early robots;


• Shakey (1967-69); Stanford Res. Inst.

• The Stanford Cart (1973-1981); Stanford Un. AI Lab.

• Scimr (1981); Univ. Pennsylvania.

• Unimation Rover (1983); stanford Un. ME Dept.

• Robart I (1980-83); Naval Postgraduate school.

• Robart II (1982-83);
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Mining/Mine rescue/Tunneling robot




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Wall climbing robots;




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Wall climbing robots;


•    Fire fighting robot,
•    Welding robots,
•    Quality control robots,
•    Painting robots,
•    Maintanence robots,
•    Rescue robots,
•    Repair robots,
•    Material handling robots.
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Çeşitli teknoloji düzeylerinde makina tanımları




                               Teknoloji Düzeyi




                                                                  Güç


                                                                        Denetim
                                                                        AçıkÇevrim


                                                                                     Denetim
                                                                                     Dış Geribeslemeli



                                                                                                             Özel İşlev



                                                                                                                          İşlev
                                                                                                                          Programlanabilen


                                                                                                                                             belirleme
                                                                                                                                             Kendinden hedef

                                                                                                                                                               Öğrenme
                                                                                                                                                               programlama ve
                                                                                                                                                               Kendinden
                                                        Hareket
     Aletler                                            


     Mekanizasyon                                                


     Otomatik Makinalar                                               
     (açık denetim)

     Otomatik Makinalar                                                            
     (Geribeslemeli denetim)

     CNC Tezgah ve Makinalar                                                                          


     Esnek Tezgah ve Makinalar,                                                                                        
     Robotlar

     Yarı Akıllı Makinalar                                                                                                               
     (Kısmen kendinden denetimli makinalar)

     Akıllı Makinalar                                                                                                                                     
     (Kendinden denetimli makinalar)




Spring 2002                                       Mechatronic Products/Machines                                                                                                 11
Open & closed Cycle Systems;



                       Güç
                                                     Open cycle system
          Girdi                Çıktı
                   Sistem




                                                                                 Güç



                                                  Girdi                                Çıktı
                                                                          Sistem
                                                          X
         Closed cycle system
                                                                       Geri Besleme




Spring 2002                            Mechatronic Products/Machines                           12
An Intelligent system;




                                      Güç
                                               Algılama



              Girdi                              Çıktı
                                Sistem                    Çevre
                      X

                            Geri Besleme



                               Algılama




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An intelligent machine;




                            Perception of Environment
              Environment




                                                                   Machine
                            Machine Response (Work)




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Subsystems of any robot.                                               (I.M. Havel, Robotika, 1980)




              Cognitive sub-system                              Motoric sub-system
                       Preparation of                  Output
                       solutions and     Cognitive     control
                                         feedback                          Effectors
                       schedules                       information




                                                                                            Environment
                                                      Operational          Operational
              Model of the                            feedback             feedback
              environment




                       Receptivity and                 Input data
                       comprehension      Cognitive    processing
                                          feedback                         Receptors


                                                                    Sensoric sub-system




Spring 2002                                  Mechatronic Products/Machines                                15
Subsystems of a robot:


• Cognitive Subsystem
     EMS based on switches >>> Software control ...

• Motoric subsytem
     Electric motors >>> Heaters >>> Muscle wires ...

• Sensoric subsystem
     Stops >>> Sensors >>> Vision systems ...




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              Elektronik
                           Mekanik


                Yazılım




              Before                                            After




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Technological development of printers;




                             Mechanical
              Percentage %




                                                Electrical/Electronics


                                                                          Software




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Hierarchy of an Intelligent system



                                                  Management Supervision




                                                         Scheduling




                           Supervisory Level                            Supervisory Level



                  Direct Digital Control       Direct Digital Control       Direct Digital Control




              A        S        S          A    S        A       A      S        S        S          A




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Mechatronic machine, organs, and system structure



                                                                        S
                      S                                       S
                                                                            A
                  A
                                                                                    S
                                         YD          YD
              S
                          SD                                       SD
                                                                                A



                                            SD




                               A                       S
                                            A



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Nomenclature




                   Mechanical Components
          S
                   Sensors
          A
                   Actuators
          SD
                   Digital Control
          YD
                   Supervisory Control
              MS
                   Management System

                   Mechatronic organs


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Mechatronic elements, Organs, and System




                                     M/S




                     Organ 1                 Organ 2
                                                                        Organ N



              E11
                    E12
                               E1K
                                                              EN1      EN2        ENM
                                       E21             E22




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What can I do for you?


• As you have already recognized, there is no single structure/design
  of an intelligent machine. As it is true for traditional mechanical
  design approaches, selection of machine elements for a specified
  function is largely dependent on the designer’s own choice,
  preference, experience. Engineering creativity largely depends on
  the variety of available (both physical, and knowledge) machine
  elements and components.
• I can only teach and guide you methods of using newer machine
  components (like; Machine vision, AI techniques, Expert systems,
  Speech recognition, Voice entry systems, etc.) It is all upto you to
  create intelligent machines of the future.
• All I can do is to increase variety of available components.
• Do not expect more; It is your engineering creativity and design
  effort (Imagineering) that will bring success.
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     Impossible is a word only found in the
     dictionary of fools (Napoleon I).

     Designers need time only.

     Apply Imagineering.


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