Introduction to Mechatronics, Sensors and Transducerstaruian
Introduction: Definition, Multidisciplinary Scenario, Evolution of Mechatronics, Design of Mechatronics system, Objectives, advantages and disadvantages of Mechatronics
Transducers and sensors: Definition and classification of transducers, Difference between transducer and sensor, Definition and classification of sensors, Principle of working and applications of light sensors, proximity switches and Hall Effect sensors.
Introduction to Mechatronics, Sensors and Transducerstaruian
Introduction: Definition, Multidisciplinary Scenario, Evolution of Mechatronics, Design of Mechatronics system, Objectives, advantages and disadvantages of Mechatronics
Transducers and sensors: Definition and classification of transducers, Difference between transducer and sensor, Definition and classification of sensors, Principle of working and applications of light sensors, proximity switches and Hall Effect sensors.
Robotics and Autoamtion_ manipulators, actuators and end effectorsJAIGANESH SEKAR
Construction of manipulators – manipulator dynamics and force control – electronic and pneumatic manipulator control circuits – end effectors – U various types of grippers – design considerations.
To impart knowledge about the elements, techniques and sensors involved in mechatronics systems which are very much essential to understand the emerging field of automation.
What is mechatronics
Key elements of Mechatronics
How the mechatronics system work
Understand mechatronics system
Understand measuring system
Understand control system
Benefit and drawback of mechatronics
Application of mechatronics
Presentation for unit V in Mechatronics excluding case study. Stepper motor, servo motor, design procedure, Traditional and Mechatronic design approach
Module 5 hydraulics and pneumatics Actuation systemstaruian
Pneumatic and hydraulic actuation systems: Pneumatic and hydraulic systems actuating systems.
Classifications of Valves: Pressure relief valves, Pressure regulating / reducing valves
Cylinders and rotary actuators.
DCV & FCV: Principle & construction details.
Types of sliding spool valve & solenoid operated.
Symbols of hydraulic elements, components of hydraulic system, functions of various units of hydraulic system.
Design of simple hydraulic circuits for various applications
Robotics and Autoamtion_ manipulators, actuators and end effectorsJAIGANESH SEKAR
Construction of manipulators – manipulator dynamics and force control – electronic and pneumatic manipulator control circuits – end effectors – U various types of grippers – design considerations.
To impart knowledge about the elements, techniques and sensors involved in mechatronics systems which are very much essential to understand the emerging field of automation.
What is mechatronics
Key elements of Mechatronics
How the mechatronics system work
Understand mechatronics system
Understand measuring system
Understand control system
Benefit and drawback of mechatronics
Application of mechatronics
Presentation for unit V in Mechatronics excluding case study. Stepper motor, servo motor, design procedure, Traditional and Mechatronic design approach
Module 5 hydraulics and pneumatics Actuation systemstaruian
Pneumatic and hydraulic actuation systems: Pneumatic and hydraulic systems actuating systems.
Classifications of Valves: Pressure relief valves, Pressure regulating / reducing valves
Cylinders and rotary actuators.
DCV & FCV: Principle & construction details.
Types of sliding spool valve & solenoid operated.
Symbols of hydraulic elements, components of hydraulic system, functions of various units of hydraulic system.
Design of simple hydraulic circuits for various applications
Robot Drives And End Effectors
Robot drive systems: Hydraulic, Pneumatic and Electric drive
systems, classification of end effectors, mechanical grippers, vacuum grippers, magnetic grippers,
adhesive gripper, gripper force analysis and gripper design
Mechatronics is a multidisciplinary field that refers to the skill sets needed in the contemporary, advanced automated manufacturing industry. At the intersection of mechanics, electronics, and computing, mechatronics specialists create simpler, smarter systems.Examples of mechatronic systems are robots, digitally controlled combustion engines, machine tools with self-adaptive tools, contact-free magnetic bearings, automated guided vehicles, etc. Typical for such a product is the high amount of system knowledge and software that is necessary for its design.High-impact jobs: Jobs in mechatronics are expected to grow rapidly in the next 10 years. The U.S. Department of Labor andthe Pennsylvania Department of Labor and Industry have identified mechatronics as an emerging field that will be both high priority and high impact.Mechatronics is certainly harder than the other engineering courses as it's a combination of few fields such as mechanics, electrical and electronics, robotics and so on.
Different transformations and reference
frame theory, modeling of induction machines, voltage fed inverter
control-v/f control, vector control, direct torque and flux
control(DTC).
Presentation on Industrial Automation by Vivek Atalkar Vivek Atalkar
Industrial automation is the use of technology and control systems to operate, monitor, and optimize industrial processes, machinery, and equipment. It involves the use of various technologies, including programmable logic controllers (PLCs), sensors, and robotics, to automate repetitive and complex tasks, improve efficiency, and reduce costs.
The primary benefit of industrial automation is improved productivity. By automating repetitive tasks, machines can work faster and more accurately, leading to increased output and lower production costs. Automation can also lead to better quality control, reducing defects and waste. Industrial automation can also help businesses to save on labor costs, as machines can perform tasks that would otherwise require human labor.
Another significant benefit of industrial automation is increased safety. Automation can help to reduce the risk of injury to workers by performing hazardous tasks or operating in dangerous environments. It can also help to reduce the risk of human error, which can lead to accidents and injuries.
There are several types of industrial automation, including process automation, discrete automation, and hybrid automation. Process automation involves controlling the flow of materials and products through a manufacturing process. This type of automation is commonly used in chemical plants, food processing, and other industries where there is a continuous flow of materials.
Discrete automation involves controlling individual machines or components, such as robotic arms, conveyors, or assembly lines. This type of automation is commonly used in automotive manufacturing, electronics, and other industries where there is a need to perform specific tasks.
Hybrid automation involves combining process and discrete automation to optimize production. This type of automation is commonly used in industries such as aerospace, defense, and medical device manufacturing, where there is a need to balance the efficiency of the manufacturing process with the precision and accuracy required to produce complex products.
Industrial automation also offers several advantages beyond increased productivity, safety, and quality control. It can help to improve energy efficiency and reduce environmental impact by optimizing the use of resources such as water, electricity, and raw materials. Automation can also improve data collection and analysis, providing valuable insights into production processes that can help to identify areas for improvement and optimize performance.
In recent years, industrial automation has become increasingly accessible to smaller businesses, thanks to advancements in technology and the availability of off-the-shelf automation solutions. As a result, industrial automation is no longer just for large corporations with vast resources, but is becoming more widely adopted across a range of industries and business sizes.
Industrial Robots, Robot Anatomy,Joints, Robot Configurations, Robot Actuators/ Drive systems,Robot programming, Teach pendant Programming, Lead through Programming, Robot control systems,Applications,Advatages
Introduction_Medical Robotics
Types of medical robots - Navigation - Motion Replication - Imaging - Rehabilitation and Prosthetics - State of art of robotics in the field of healthcare
Introduction to OS
Basic Principles, Operating System Structures, System Calls & Types, Processes: Concept Scheduling - Inter
Process Communication, Introduction to Distributed Operating System, Types of network based OS.
Robot Anatomy And Motion Analysis
Anatomy of a Robot, Robot configurations: polar, cylindrical,
Cartesian, and jointed arm configurations, Robot links and joints, Degrees of freedom: types of
movements, vertical, radial and rotational traverse, roll, pitch and yaw, Wok volume/envelope, Robot
kinematics: Introduction to direct and inverse kinematics, transformations and rotation matrix
Avoiding Risk & Harmful Habits
Characteristics of health compromising behaviors, Recognizing and avoiding of
addictions, How addiction develops, Types of addictions, influencing factors of addictions, Differences between addictive
people and non addictive people & their behaviors. Effects of addictions
Creating Healthy & Caring Relationships
Building communication skills, Friends and friendship - Education,
the value of relationship and communication skills, Relationships for Better or worsening of life, understanding of basic
instincts of life (more than a biology), Changing health behaviours through social engineering
Building Healthy Life Style for Better Future.pptxtaruian
Building Healthy Life Style for Better Future
Developing healthy diet for good health, Food & health, Nutritional
guidelines for good health, Obesity & overweight disorders and its management, Eating disorders, Fitness components for
health, Wellness and physical function, How to avoid exercise injuries
Good Health & It’s balance for positive mindset.pptxtaruian
Health -Importance of Health, Influencing factors of Health,
Health beliefs, Advantages of good health, Health & Behavior, Health & Society, Health & family, Health & Personality,
Psychological disorders-Methods to improve good psychological health, Changing health habits for good health
Thread terminology, sectional views of threads. ISO Metric (Internal & External), BSW (Internal & External), Square and Acme, Sellers thread, American Standard thread.
IoT Processing Topologies and Types: Data Format, Importance of Processing in IoT, Processing Topologies, IoT Device Design and Selection Considerations, Processing Offloading.
Introduction to IoT (Basics of Networking & Emergence of IoT).pptxtaruian
Basics of Networking: Introduction, Network Types, Layered network models.
Emergence of IoT: Introduction, Evolution of IoT, Enabling IoT and the Complex Interdependence of Technologies, IoT Networking Components.
This slide is special for master students (MIBS & MIFB) in UUM. Also useful for readers who are interested in the topic of contemporary Islamic banking.
Macroeconomics- Movie Location
This will be used as part of your Personal Professional Portfolio once graded.
Objective:
Prepare a presentation or a paper using research, basic comparative analysis, data organization and application of economic information. You will make an informed assessment of an economic climate outside of the United States to accomplish an entertainment industry objective.
Biological screening of herbal drugs: Introduction and Need for
Phyto-Pharmacological Screening, New Strategies for evaluating
Natural Products, In vitro evaluation techniques for Antioxidants, Antimicrobial and Anticancer drugs. In vivo evaluation techniques
for Anti-inflammatory, Antiulcer, Anticancer, Wound healing, Antidiabetic, Hepatoprotective, Cardio protective, Diuretics and
Antifertility, Toxicity studies as per OECD guidelines
Operation “Blue Star” is the only event in the history of Independent India where the state went into war with its own people. Even after about 40 years it is not clear if it was culmination of states anger over people of the region, a political game of power or start of dictatorial chapter in the democratic setup.
The people of Punjab felt alienated from main stream due to denial of their just demands during a long democratic struggle since independence. As it happen all over the word, it led to militant struggle with great loss of lives of military, police and civilian personnel. Killing of Indira Gandhi and massacre of innocent Sikhs in Delhi and other India cities was also associated with this movement.
A Strategic Approach: GenAI in EducationPeter Windle
Artificial Intelligence (AI) technologies such as Generative AI, Image Generators and Large Language Models have had a dramatic impact on teaching, learning and assessment over the past 18 months. The most immediate threat AI posed was to Academic Integrity with Higher Education Institutes (HEIs) focusing their efforts on combating the use of GenAI in assessment. Guidelines were developed for staff and students, policies put in place too. Innovative educators have forged paths in the use of Generative AI for teaching, learning and assessments leading to pockets of transformation springing up across HEIs, often with little or no top-down guidance, support or direction.
This Gasta posits a strategic approach to integrating AI into HEIs to prepare staff, students and the curriculum for an evolving world and workplace. We will highlight the advantages of working with these technologies beyond the realm of teaching, learning and assessment by considering prompt engineering skills, industry impact, curriculum changes, and the need for staff upskilling. In contrast, not engaging strategically with Generative AI poses risks, including falling behind peers, missed opportunities and failing to ensure our graduates remain employable. The rapid evolution of AI technologies necessitates a proactive and strategic approach if we are to remain relevant.
A workshop hosted by the South African Journal of Science aimed at postgraduate students and early career researchers with little or no experience in writing and publishing journal articles.
Francesca Gottschalk - How can education support child empowerment.pptxEduSkills OECD
Francesca Gottschalk from the OECD’s Centre for Educational Research and Innovation presents at the Ask an Expert Webinar: How can education support child empowerment?
Read| The latest issue of The Challenger is here! We are thrilled to announce that our school paper has qualified for the NATIONAL SCHOOLS PRESS CONFERENCE (NSPC) 2024. Thank you for your unwavering support and trust. Dive into the stories that made us stand out!
A review of the growth of the Israel Genealogy Research Association Database Collection for the last 12 months. Our collection is now passed the 3 million mark and still growing. See which archives have contributed the most. See the different types of records we have, and which years have had records added. You can also see what we have for the future.
Exploiting Artificial Intelligence for Empowering Researchers and Faculty, In...Dr. Vinod Kumar Kanvaria
Exploiting Artificial Intelligence for Empowering Researchers and Faculty,
International FDP on Fundamentals of Research in Social Sciences
at Integral University, Lucknow, 06.06.2024
By Dr. Vinod Kumar Kanvaria
3. • Introduction & background
• Advanced actuators
• Pneumatic actuators
• Industrial Robot
• Different parts of a Robot-Controller
• Drive, Arm, End Effectors & Sensor
• Functional requirements of robot.
Module 3
4. Introduction
• An actuator is a device that actuates or used to produce motion or action
• Device that coverts an input energy into motion or mechanical energy.
• Input (mainly electrical signal, air, fluids)
The input energy for the actuators can be;
1. Manual (e.g., levers and jacks)
2. Hydraulic or pneumatic (e.g., pistons and valves)
3. Thermal (e.g., bimetallic switches or levers)
4. Electric (e.g., motors and resonators)
Basic Concepts of Actuators
5. Introduction
In the transducers unit;
• A transducer is a device that converts one form of energy to another form.
Definition of an actuator: (Based on transducers)
• Actuator can be a specific type of a transducer.
E.g.; An electric motor is an actuator. (both actuator and a transducer)
(As it converts electrical energy to mechanical energy).
Basic Concepts of Actuators
6. Classification of Actuators
Actuators
Type of
Motion
Linear
Rotary
Type of
Medium
Hydraulic
Pneumatic
Electrical
Mechanical
• Linear actuator: Solenoid, Hydraulic / Pneumatic
• Rotary actuator: Motor, Hydraulic / Pneumatic
7. Introduction
In mechanical actuators, a rotary motion is converted into linear motion.
E.g.: Gears, Rails, Pulley, Chain, Springs etc.
Mechanical Actuators
• Hydraulics generates higher energy than any other system.
• All systems involving high loads are operated by hydraulic actuators in which oil
pressure is applied on mechanical actuator to give an output in terms of rotary or
linear motion.
E.g. Steering gear of ship: Hydraulic pressure is used to move the rudder actuator.
Hydraulic Actuators
8. Introduction
• Electrical energy is used to actuate a mechanical system using magnetic field i.e.
EMF.
E.g.: Electrical motor operated valve and magnetic valve actuator or solenoid valve.
In solenoid valve, the electrical signal will magnetize the upper portion of the valve,
which will attract the valve seat and open the system. When electrical supply is
removed, valve gets shut by spring action.
Electrical Actuators
9. Introduction
Hybrid Actuators
• Combination of the above systems which controls / actuates the mechanical
element of the system.
• E.g. Thermo hydraulic Electronic actuators
Used in operating valves in hot water system, wherein hot water is used along
with electronic system, acting as control for the valve.
11. Introduction
• An industrial robot is a general-purpose, programmable machine.
• It has human-like characteristics, also resembles as of humans in its physical
structure, respond to sensory signals, in a manner that is similar to humans.
• Mechanical arms are used for various industry tasks.
• Sensory perceptive devices such as sensors allow the robots to;
• Communicate and interact with other machines
• Take simple decisions.
Industrial Robot
12. Introduction
The general commercial and technological advantages of robots:
• Operates in hazardous or uncomfortable work environments.
• Performs its work cycle with a consistency and repeatability over a long period.
• Robots can be reprogrammed.
• Robots can be connected to the computer systems and other robotics systems.
• Can be controlled by wireless control technologies.
• Overall enhances the productivity and efficiency of automation industry.
Industrial Robot
13. • The manipulator of an industrial robot consists of a series of joints and links.
• Robot anatomy deals with study of different joints, links and physical construction.
• A robotic joint provides relative motion between two links.
• Each joint, or axis, provides a certain Degree-of-freedom (DOF) of motion.
• In most cases, only one degree-of-freedom is associated with each joint.
• The complexity of the robot is according to the total number of DOF they possess.
Industrial Robot
Different parts of a Robot Controller
14. • Robots are mounted upon a stationary base (e.g. Floor).
• From the base, a joint-link numbering scheme is
recognized as shown in Fig.
• The robotic base and its connection to the first joint are
termed as link-0.
• The first joint in the sequence is joint-1.
• Link-0 is the input link for joint-1, & the output link from
joint-1 is link-1, which leads to joint-2.
• Thus link 1 is the output link for joint-1 and input link for
joint-2.
• This joint-link-numbering scheme is followed for all joints
and links in the robotic systems.
Industrial Robot
Different parts of a Robot Controller
16. Industrial Robot
Different parts of a Robot Controller
• All industrial robots have mechanical joints, classified into following five types
as shown in fig.
18. Drive system
• The three types of drive systems are commonly used to actuate joints;
1. Electric drives: e.g. Electric motors, Servo-motors or Stepper motors
2. Hydraulic drives
3. Pneumatic drives
Drive System - Introduction
E.g.: Piston-cylinder systems or rotary vane actuators
• To power the joints of the Robot
19. Characteristics / Selection of Drive system
• Speed of operation
• Load Carrying capacity
• Power consumption
• Positional accuracy / Repeatability
• Dynamic performance / Stability
• Cost
Drive System - Introduction
20. Drive
• Pneumatic drives: Used for smaller, simpler robotic applications.
• Electric & Hydraulic drives: Sophisticated industrial robots.
• Commercial applications; prefers electric motor, as they are compatible with
computing systems.
• Hydraulic systems, although not as flexible as electrical drives, generally
used where larger speeds are required also, to carry out heavy duty
operations.
Drive - Introduction
21. Robot Control Systems
• To perform as per the program instructions, the joint movements of an
industrial robot must be accurately controlled.
• Microprocessor based controllers are used to control the robots.
22. 1. Limited Sequence Control
2. Play back with Point-to-Point Control
3. Play back with Continuous Path Control
4. Intelligent Control
Types of Robot Control Systems
23. Types of control
1. Limited Sequence Control
• Used for simple motion cycles, such as pick and place operations
• Controlled by setting limit switches and/or mechanical stops together with a sequencer to
coordinate and time the actuation of the joints.
• Feedback loops may be used to inform the controller that the action has been performed, so that
the program can move to the next step.
• Precision of such control system is less.
• It is generally used in pneumatically driven robots.
24. Types of control
2. Play back with Point-to-Point Control
• Playback control uses a controller with memory to record motion
sequences in a work cycle, as well as associated locations and other
parameters, and then plays back the work cycle during program
execution.
• Point-to-point control means individual robot positions are recorded in
the memory.
• These positions include both mechanical stops for each joint, and the
set of values that represent locations in the range of each joint.
• Feedback control is used to confirm that the individual joints achieve
the specified locations in the program
25. Types of control
2. Play back with Point-to-Point Control
• Application: Machine loading and unloading applications
• Complex applications: spot welding (resistance welding), assembly, grinding, inspection,
palletizing, and depalletizing.
26. Types of control
3. Play back with Continuous Path Control
• Continuous-path motion is an extension of the point-to-point method.
• The difference is that continuous path involves the utilization of more points and its path can be
an arc, a circle, or a straight line.
• Continuous-path program can have several thousand points.
• Continuous path control refers to a control system capable of continuous simultaneous control of
two or more axes.
• Programming of the path of motion is accomplished by an operator physically moving the end
effector of the robot through its path of motion. While the operator is moving the robot through its
motion, the positions of the various axes are recorded on some constant time frame.
• The robot remembers, the exact path through which the programmer moves the manipulator,
also the speed at which the programmer moves the manipulator.
27. Types of control
3. Play back with Continuous Path Control
• The major difference between the continuous path control and the standard point-to-point control
is the control’s ability to remember thousands of programmed points in the continuous path,
whereas the point-to-point control is limited to several hundred points of memory..
28. Types of control
4. Intelligent Control
• An intelligent robot exhibits behavior that makes it intelligent.
• E.g. It may have capacity to interact with its ambient surroundings; decision-making capability;
ability to communicate with humans; ability to carry out computational analysis during the work
cycle; and responsiveness to advanced sensor inputs.
• Also possess the playback facilities. However it requires a high level of computer control, and an
advanced programming language to input the decision-making logic and other ‘intelligence’ into
the memory.
29. Types of control
4. Intelligent Control
Significant developments:
• Performing tasks such as moving among a variety of machines and equipment
in the shop floor and avoiding collisions; recognizing, picking, and properly
gripping the correct raw material or workpiece; transporting a workpiece to a
machine for processing or inspection; and assembling the components into a
final product.
30. End Effectors
• An end effector is usually attached to the robot’s wrist, and it allows the robot to
accomplish a specific task / operation.
• End effectors are generally custom engineered and fabricated for each different
operation.
• There are two general categories of end effectors viz. grippers and tools.
31. End Effectors
• To grasp and hold the object.
• Machine loading and unloading.
• Pick parts from the conveyor.
• Arrange the parts on Pallet / Palletizing.
Grippers
The function / purpose of the grippers are;
32. End Effectors
• Single gripper: Only one grasping device, machine loading and unloading
• Double gripper: Two gripping device, simultaneously loading and unloading,
independent operations.
• Multiple gripper: Two or more grasping device, holding large flat object.
• Internal gripper: Grasp the internal surface of the object .
• External gripper: Grasp the external surface of the object .
Classification of Grippers
33. End Effectors
• Various end-effectors, grippers are summarized as follows;
Type of End effector Description
Mechanical gripper
Two or more fingers, actuated by robot controller to open and close on a
work part.
Vacuum gripper Suction cups are used to hold flat objects.
Magnetized Device For handle ferrous materials
Adhesive devices For holding flexible materials, like fabric / light weight materials
Simple mechanical
devices
Hooks and scoops.
Dual grippers
• Mechanical gripper with two gripping devices in one end-effecter.
• Used for machine loading and unloading.
• It reduces cycle time per part by gripping two work parts at the same time.
34. End Effectors
• Various end-effectors, grippers are summarized as follows;
Type of End effector Description
Interchangeable
fingers
Mechanical gripper with an arrangement to have modular fingers to
accommodate different sizes work part.
Sensory feedback
fingers
Mechanical gripper with sensory feedback capabilities in the
fingers to aid locating the work part; and to determine correct grip force to
apply (for fragile work parts).
Multiple fingered
grippers
Mechanical gripper as per the general anatomy of human hand
Standard grippers
commercially available grippers, reducing the need to custom-design a
gripper for separate robot applications.
36. End Effectors
• Various end-effectors, grippers are summarized as follows;
• The robot end effecter may also use tools.
• Tools are used to perform processing operations on the work part.
E.g. Spot welding, Arc welding, and Spray painting.
• Tools also can be mounted at robotic manipulator spindle to carry out
machining work such as drilling, routing, grinding, etc.
37. Sensors in Robotics
• Generally two categories of sensors used in robotics.
1. Internal purposes
2. External purposes.
Internal sensors: To monitor and control the various joints of the robot.
They form a feedback control loop with the robot controller.
Examples of internal sensors: Potentiometers and optical encoders, while
tachometers of various types are deployed to control the speed of the robot arm.
38. Sensors in Robotics
External sensors: To control the operations of the robot.
They form a feedback control loop with the robot controller.
Examples of External sensors: Limit switches, that determine whether a part has
been positioned properly, or whether a part is ready to be picked up from an
unloading bay.
39. Various sensors used in robotics are outlined
Sensors Description
Tactile sensor
To determine whether contact is made between sensor and another object
• Touch sensors: indicates the contact
• Force sensors: indicates the magnitude of force with the object.
Proximity / Range
sensor
To determine how close an object is to the sensor.
Optical sensor
Photocells and other photometric devices are used to detect the presence or
absence of objects.
Machine vision Used in robotics for inspection, parts identification, guidance.
Others
Measurement of temperature, fluid pressure, fluid flow, electrical voltage,
current, and other physical properties.
41. Situations
Functional requirements of robot
• Hazardous / unsafe / unhealthy, uncomfortable, work environments for humans,
• Repetitive work cycle
• Difficulty in handling for humans
• Multi-shift operation
• Infrequent changeovers: Long production runs where changeovers are infrequent
• Material Handling Applications
• Processing Operations: Spot / Arc welding, spray painting / coating