A model for mechatronics design with embedded micro-controllers

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A model for mechatronics design with embedded micro-controllers Manuel Harfuch Díaz Barriga

Embedded micro-controllers inside the mechatronics system model

Feedback mechanisms

Filters

Sequential Circuits

Flip-Flops

PID's

Coordination Tasks carried on by micro-controllers

PC's

Micro-Controllers

Microprocessors

Communication protocols

Sequence control

In charge of processes and exchange information

Tasks type 2 carried on by micro-controllers

Amplifiers

Logic Gates

Triac's

Sensors

Drivers

Motors

Chains

Bands

Gears

Tasks type 1

PCB's

IC

Assemble Structures

Aesthetic elements

Boards

Structure of the Mechatronics System

Systems

Group of equipments that interact to each other

Equipment

Group of machines that interact to each other

Machines

Group of mechanism that interact to each other

Mechanisms

Group of elements base that interact that interact to each other

Base Elements

Screws, nuts, gear, cables, resistances, capacitors, transistors, etc

Examples

Teleoperated hand

13° of freedom Servo controlled A micro-controller makes coordination tasks Communicates with sensor glove by serial port

Four-legged robot

Two micro-controllers One has the algorithm and other the control Twelve motors High Speed Serial Communication

Explorer

Explorer Robot with IR sensor 4 wheels Coordination among different taks

AGV

Automated Guided Vehicle Electronic Differential Two motors

Forklift

Automated guided vehicle 3 motors Programmed by PC

Mechatronics System Processes

Dynamic

While operating the MS parts interact dynamically with each other

Showing equifinality

Systems can reach same final state regardless the initial conditions and by different ways, in other words MS are flexible and adapt.

Tending to disorder

The physical systems tend to disorder, the MS must correct or stop the process of disorganization to conserve order and control during its life

Tending to stability

Tendency of the system to stabilize in ortder to preserve order and control

Codifying the information

Systems react to specific signals

Static

Is when the MS has a steady state behaviour or is in dynamic equilibrium

Transformation

Mass, Energy and Information should turn to products, services, results, information, etc.

Means

Coordination tasks

How different tasks communicate and interact with subsystems

Secondary tasks

System elements concentrate their energy to execute primary tasks

Primary tasks

Primary regulations or fundamental tasks

Directedness

Static teleology

The enviorment, limit, input and output.

Everything outside the MS limit is the enviorment and for preserving order and control the MS should be connected with it. The Enviorment must provide inputs, accept outputs and provide feedback to the MS, therefore this interactions MS-Enviorment is fundamental.

Outputs

Product, Services, Information,etc

Inputs

Information

Energy

Mass

Limit

Psychological

Appearance and operating way

Social

Ergonomic characteristics

Temporary

Operating time and expected life

Physical

Material and structural