MCE 101:

Fundamentals of Mechatronics
Engineering

Department of Mechatronics Engineering

School of Electrical Engineering and Technology (SEET)
Federal University of Technology Minna, Niger State.
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 Synopsis of course
• Introduction to mechatronics systems -- Measurement Systems, Control Systems,
Microprocessor-based Controllers. Sensors and Transducers – Performance
Terminology – Sensors for Displacement, Position and Proximity; Velocity, Motion,
Force, Fluid Pressure, Liquid Level. Temperature, Light Sensors – Selection of
Sensors. Pneumatic and Hydraulic Systems – Directional Control Valves – Rotary
Actuators. Mechanical Actuation Systems – Cams – Gear Trains – Ratchet and Pawl –
Belt and Chain Drives – Bearings. Electrical Actuation Systems – Mechanical Switches
– Solid State Switches – Solenoids – DC Motors – AC Motors – Stepper Motors.
Introduction to Robot and Robotics, Three laws of robotics, History, Issues of
industrial robot usage, Robot Types, limitations, Architecture and Configuration of
Robots, Applications of Robots, Robots Classification, Robot Repeatability and
Accuracy, Robot component, Degree of freedom, Drive Technologies, Coordinate
Systems, three related frames, Rotational about fixed frames (x,y,z). Transformation of
Coordinate Frame, Forward Kinematics, Orientations, Translation of rigid body.
Introduction to robotics, mobile robots, swamp robot and industrial robots, Robot
Mechanisms, Actuators and Drive Systems, Differential Motion, Statics and dynamics,
Force and Compliance Controls, Realistic and Safe Use of Robots.
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 Synopsis of course
• Module 1: Introduction: Fundamentals of Mechatronics and Introduction to Sensors:
Introduction to mechatronics systems -- Measurement Systems, Control Systems,
Microprocessor-based Controllers. Sensors and Transducers – Performance Terminology –
Sensors for Displacement, Position and Proximity; Velocity, Motion, Force, Fluid Pressure,
Liquid Level. Temperature, Light Sensors – Selection of Sensors. Facilitator Dr Folorunso.
•
• Module 2: Fundamentals of Mechatronics and Introduction to Actuators: Pneumatic
and Hydraulic Systems – Directional Control Valves – Rotary Actuators. Mechanical Actuation
Systems – Cams – Gear Trains – Ratchet and Pawl – Belt and Chain Drives – Bearings.
Electrical Actuation Systems – Mechanical Switches – Solid State Switches – Solenoids – DC
Motors – AC Motors – Stepper Motors. Facilitator Dr. Jack
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• Module 3: Fundamentals of Mechatronics and Introduction to Robotics: Introduction
to Robot and Robotics, Three laws of robotics, History, Issues of industrial robot usage, Robot
Types, limitations, Architecture and Configuration of Robots, Applications of Robots, Robots
Classification, Robot Repeatability and Accuracy, Robot component, Degree of freedom, Drive
Technologies, Coordinate Systems, three related frames, Rotational about fixed frames (x,y,z).
Facilitator Engr Anunuso

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 Synopsis of course
• Module 4: Introduction to Mobile and Autonomous Robot Systems
• Introduction to robotics, mobile robots, swamp robot and industrial robots, Robot
Mechanisms, Actuators and Drive Systems, Differential Motion, Statics and dynamics, Force
and Compliance Controls, Realistic and Safe Use of Robots. Facilitator Dr Folorunso/Engr
Bala

• Module 5: Introduction to Emerging Trends: Roles and application of emerging trends in

Mechatronics. Emphasis on Artificial Intelligence, Deep Learning, Machine learning, Internet
of Things, Embedded Systems and Control. Facilitator Engr Bala

S/N Modules Facilitators

1 Module 1 Dr Folorunso
2 Module 2 Dr Jack
3 Module 3 Engr Anunuso
4 Module 4 Dr Folorunso/Dr Jack/Engr
Bala
5 Module 5 Engr Bala

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 How to dish out?
• Divided into 5 parts
1. Normal classes
2. Project: Development of Mechatronics system
• Delivery method
• Lectures
• Projects
• Each group will design and develop a Mechatronics
Projects

• Evaluation
• Attendance
• Mid Semester Exam (Date:)
• Project (Date: )
• Final Exams
 MODULE I

Introduction to Mechatronics

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Introduction outcome:

▪ Understand the brief history of Mechatronics

▪Understand the key elements in Mechatronics

▪Identify practical examples of Mechatronics systems around us

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Introduction:

Mechatronics was first coined in the late 60’s by a Japanese Mr

Tetsuro Mori, the CEO and president of Seibu Electric and
Machinery Co Ltd. Then he used to work for Yaskawa Electric
Cooperation in Kitakyushu, Japan.

Then the word was used to refer to the merging of electrical and
mechanical system, better-still referred to as electromechanical
systems.

In the early 70’s, Mechatronics was concerned mostly with servo

technology used in products mechanism that is controlled
electronically. Products such as automatic door openers, Vending
machines etc.

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Introduction:
At this stage the technologies used in Mechatronics systems were
developed individually and independently of each other.

▪Engineers, then used to work as a team to develop products. Thus

improving their skills of interaction and they could learn from each
other and can master the challenges of developing and manufacturing
new products.

▪It requires the skills of all engineers from all fields(mechanical,

electrical, computer, control) in a sequential manner to develop products.

▪With the introduction of the microprocessor to the market in the mid

70’s . There was an increased production of new products that
incorporated the technologies of Mechanical, Electronics and
Information processing.

▪As at then product development relied heavily on expert engineers

from each fields, with each having its only limitation with respect to
strength and weakness. 9
Introduction:
▪Mechatronics at this stage reflects the way people work to design
and implement high performance simple and reliable solution.

▪In the 80’s, Mechatronics came to lime light as a result of the

advances in the digital world. Which has enabled the possibility to
invent, create and improve systems with little or no reliability on
mechanical components to perform their intended actions.

▪Then synergistic integration of different technologies started taking

place. And co-design concept of hardware and software started.

▪And Mechatronics quality product life cycle started to be

compressed dramatically in new technology to be developed,
manufactured and introduced to the market.

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What is Mechatronics?

Mechatronics = Mechanics + Electronics

There exist numerous definitions for the term Mechatronics

such as ;

▪Mechatronics is concerned with the synergistic

application of mechanics, electronics, controls and
computer engineering in the development of
electromechanical products and systems through an
integrated design approach .

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 What is Mechatronics?
▪Mechatronics is the synergistic integration of mechanics and
Mechanical Engineering, Electronics ,Computer technology and IT
to produce or enhance products and systems.

▪Mechatronics is the application of complex decision making to

the operation of physical systems

▪Mechatronics is a methodology used for the optimal design of

electromechanical products .

▪Mechatronics systems are designed using parallel integrated

design approach by a multi- disciplinary team of engineers and
professional with the help of IT/CAD at each stage and it enables
optimization to be performed at the design stage
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Advantages of Mechatronics products

▪ More efficient and cost effective, precise and accurate,

reliable , flexible, functional and mechanically less complex
compared to non-Mechatronics products.

▪Replacement of many mechanical functions by electronics

gives flexibility in terms of
▪Easier redesign or reprogramming
▪Enable distributed control in complex systems
▪Enable automatic data acquisition and reporting

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Disciplines involved:

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Elements involved:

Computer Physical
and Logic System
System Modelling

Software Sensors
and DAQ and
Acquisition Actuators

Signal and
Systems

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Elements involved:

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Elements involved:

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 Mechatronics Systems Examples
Computers

Cars
Tools

Consumer Stealth Bomber

Electronics

High Speed Trains

MEMS
Micro to Macro
Applications 18
 Mechatronics Systems Examples
-Manufacturing Applications-
Micro Factory
Micro Factory Drilling Unit
•Desktop sized Factory
•Build small parts with a small factory
•Greatly reduces space, energy, and
materials

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 Mechatronics Systems Examples
-Manufacturing Applications-
CNC Bending
•Fully automated bending: load sheet
metal and the finished bent parts
come out
•Can bend complex shapes

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 Mechatronics Systems Examples
-Manufacturing Applications-

CNC Machining

Advantages
•Deliver the highest accuracies
•Can create very complex shapes
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 Mechatronics Systems Examples
-Transportation Applications-
Automobiles
Typical Applications
•Brake-By-Wire system
•Steer-By-Wire
•Integrated vehicle dynamics
•Camless engines
•Integrated starter alternator

OEM Driven
•Reliability
•Reduced weight
•Fuel economy
•Manufacturing flexibility
•Design freedom
•Advanced safety features
•Cost 22
 Mechatronics Systems Examples

- Door System/Module-

“Smart” Mirror motor-unit

pin-header “Smart” Doorlock

CAN Bus

Switchboard with
“Smart” Window Lift-unit CAN Bus Gateway

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 Mechatronics Systems Examples
-Transportation Applications-
High Speed Trains
•Train Position and Velocity
constantly monitored from main
command center.
•Error margin in scheduling no
more than 30 seconds
JR-Maglev
•Fastest trains use magnetic Top Speed: 574 km/h (357 mph)
levitation Country: Japan

Magnetic Levitation

Transrapid
Top Speed: 550 km/h (340 mph)
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Country: German
 Mechatronics Systems Examples
-Transportation Applications-

Systems Uses Segway

•Tilt and pressure sensors
•Microcontroller
•Motors
•Onboard power source

Advantages
•Simple and intuitive
personal transportation
device

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 Mechatronics Systems Examples
-Smart Robotics Application-
BigDog

System Can
•Carry 340 lb Advantages
•Run 4 mph •Robot with rough-terrain mobility that could carry
•Climb, run, and walk equipment to remote location.
•Move over rough terrain 26
 Mechatronics Systems Examples
-Smart Robotics Aplications-

Vacuum Floors
•Robots can vacuum floors and clean
gutters so you don't have to.

Cleans Gutter

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 Mechatronics Systems Examples
-Space Exploration Application-
Phoenix Mars Lander's

System Can
•Collect specimens
•Has automated onboard lab
for testing specimens

Advantages
•Robot that can travel to other
planets and take measurements
automatically.

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 Mechatronics Systems Examples
-Medical Applications-

Prosthetics
•Arms, Legs, and other body parts can
be replaced with electromechanical
ones.

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 Mechatronics Systems Examples
-Medical Applications-
Pace Maker
•Used by patients with slow or
erratic heart rates. The pacemaker
will set a normal heart rate when it
sees an irregular heart rhythm.

Implantable Defibrillation
•Monitors the heart. If heart
fibrillates or stops completely it will
shock the heart at high voltage to
restore a normal heart rhythm. 30
 Mechatronics Systems Examples
-Defense Applications-

•Advanced technology is making our

soldiers safer. Stealth Bomber
•Some planes can now be flown
remotely.

Unmanned Aerial Vehicle

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 Mechatronics Systems
-Sanitation Applications-

System Uses
•Proximity sensors
•Control circuitry
•Electromechanical valves
•Independent power source

Advantages
•Reduces spread of germs by making device
hands free
•Reduces wasted water by automatically
turning off when not in use 32
 Mechatronics Systems Examples
-Sanitation Applications-
Systems Uses
•Motion sensors Paper Towel Dispenser
•Control circuitry
•Electromechanical actuators
•Independent power source

Soap Dispenser

Advantages
•Reduces spread of germs by making device
hands free
•Reduces wasted materials by controlling
how much is dispensed 33
 Mechatronics Systems Examples
-Sports Applications-
Running Shoes

Advantages
•Automatically changes
cushioning in shoe for different
running styles and conditions for
improved
comfort 34
 Classes of Mechatronics Products
▪Mechatronics products are categorized into four classes namely;

▪Class I: Primarily Mechanical Products with electronics

incorporated to enhance functionality. Numerical Controlled
Machines.
▪Class II: Traditional Mechanical Systems with significantly updated
internal devices incorporating electronics. The external user
interfaces are unaltered. Modern Sewing machines.
▪Class III: Systems that retain the functionality of the traditional
mechanical system but the internal mechanism are replaced by
electronics. Digital Watch
▪Class IV : Products designed with mechanical and electronic
technologies through synergetic integration. Photocopiers, Intelligent
washers, rice cookers etc.

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Properties of Conventional and Mechatronics systems
Mechatronic Design
Conventional Design • Integration of Components
• Added components • Compact
• Bulky • Simple Mechanism
• Complex Mechanism • Bus or Wireless Communication
• Cable Problems • Autonomous Units
• Connected Components • Integration by Information
• Simple Control Processing
• Stiff Construction • Elastic Construction with damping by
• Feedforward Control electronic feedback
• Precision through narrow • Programmable feedback digital control
tolerances • Precision through measurement and
• Non-measurable quantities change feedback control
arbitrarily • Control of non-measurable estimated
• Simple Monitoring quantities
• Fixed Abilities • Supervision with fault diagnosis
• Learning abilities

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 Components of Mechatronics systems
• Input
• Transducer/sensors
• Active, passive transducers

• Output
• DAC

• Actuators (Switches, Solenoids and Motors)

• Signal Condition
• Sampling Rate

• Filtering

• DAQ’s

• Microprocessors Control
• Microcontrollers

• Microprocessors

• PLC

Software Control
Testing and Instrumentation 37
Review questions:

▪What is Mechatronics

▪What are the key elements AND DISCLIPINES in

Mechatronics

▪What is the difference between Traditional

electromechanical systems and Mechatronics systems

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