Mechatronics Engineering Course Introductionsoftrobotics.buaa.edu.cn/PPT/Chapter 0 Course brief...
Transcript of Mechatronics Engineering Course Introductionsoftrobotics.buaa.edu.cn/PPT/Chapter 0 Course brief...
6/10/2016
Mechatronics Engineering
Course Introduction
School of Mechanical Engineering and Automation
Beihang University
Prof. Tianmiao Wang Prof. Li Wen
Professor biography
6/10/2016
• He worked as a Posdoc fellow in the BioRobotics Institute of the Scuola
Superiore Sant'Anna (SSSA), Pisa, Italy.
• He is now the Head of the expert group in the field of advanced manufacturing
technology of the National High Technology Research and Development
Program (863 Hi-Tech Program). He had published more than 100 papers in
international journals and several professional books.
• Research interests: biomimetic robotics, medical robotics and embedded
modular robotics.
Tianmiao Wang, Full Professor
Professor biography
6/10/2016
• He worked as a Posdoc fellow at Harvard University, USA before joining
Beihang University.
• He has served as the Session Chair for several academic conferences, including
the IEEE/RSJ International Conference on Intelligent Robots and Systems and
IEEE International Conference on Robotics and Automation. He was also the
recipient of several domestic and international awards.
• Research interests: bio-inspired robotics, soft robotics, 3D printing and micro
fabrication, bio-fluid mechanics.
Li Wen, Associate professor
6/10/2016
Definition of Mechatronics
Mechatronics: comes from Japan(1970s), it’s the
combination of mechanism and electronics.
Mechanism
Electronics
Mechatronics
Mechatronics
Informatics
Mechanic
electronics
6/10/2016
Definition of Mechatronics
Mechatronics, from the system point of view, is a new science
and technology in which the system will be organically
consolidated on the basis of mechanical engineering technology,
microelectronics, information technology, control technology, in
order to optimize the entire system.
Mechatronics is not a simple
superposition of mechanical
and electronics, but an application
tech built up on the basis of
information theory, control
theory and system theory.
6/10/2016
Contents of Mechatronics
Mechatronics
Mechatronics Technology
Mechatronics products
CNC milling machine
Automated Robot
Intelligent robot
6/10/2016
Function of Mechatronics
Just because of mechatronics’ flexible nature with
the introduction of electronic Tech.
The basic function of Mechatronics:
Extend new functions.
enhance the flexibility.
Questions?
• What to can learn from this course?
• What does this course mainly include?
• How we better study this course?
6/10/2016
• The most advanced humanoid robot--ATLAS?
• Japanese 5-Axis CNC machining center.
• The world's first mass-produced battle droid–
KURATAS.
International Achievements
6/10/2016
Typical Mechatronics Device
6/10/2016
1. 3D printer
2. Digital Factory
3. CNC Machine Center
1. 3D Printer
Definition
3D printing is an emerging technology which is
rapidly growing in recent manufacturing industry. It
is called “technology that can open up a new
industrial revolution”.
Main process
3D model design Print the product layer by layer
using liquefied, powdered, gel, sand, live tissues and
other materials.
Principles of 3D Printing
• Traditional
Remove the unnecessary
portions of raw material in
ways like Cutting, Grinding,
Melting and so on. Then
assemble the parts into a final
product.
• 3D printing
In 3D printing, products can
be made directly based on
computer Stereo-lithography
data. This technology
simplifies manufacturing
processes, shorten the product
development cycle, and reduce
the costs in both financial and
time.
3D printing part demonstration
Component of 3D printer
Software:
Slice the 3D model, generate numerous printing
coordinates command.
Mechanical structure:
Spatial axis is composed of motor, frame, Timing
Pulley, conveyor belts, etc.
Electronic components:
Storing instructions and data caching; motor
controller, temperature sensor, etc.
6/10/2016
Key technologies of 3D printing
Information technology:
Help to design 3D model and generate coordinate
information.
Precision machinery:
High degree of accuracy and stability.
Material science:
Materials can be liquefied or powdered and then
solidified automatically.
6/10/2016
Application Area of 3D printer
Commercial Manufacture
Application Area of 3D printer
Culture and Creativity Industry
Aeronautics and Astronautics & Military
Industry
6/10/2016
Application Area of 3D printer
Biomedical organism
6/10/2016
Application Area of 3D printer
Building Project
6/10/2016
Application Area of 3D printer
Entertainment
6/10/2016
Application Area of 3D printer
6/10/2016
Videos about 3D Printing
2. Digital factory
Background:
1. All kinds of new manufacturing concept and pattern ,such as
computer/modern integrated manufacturing, flexible manufacturing,
concurrent manufacturing, internet manufacturing and so on,which
have improved the digital and intelligent level of manufacturing
system.
2. The developments of digital simulation technology and virtual reality
technology make it possible that make virtual plan and simulation
optimization for the real industry manufacturing.
3. Therefore, there comes into being a new concept of “Digital
Factories”, which provides the development of manufacturing
technology with new ways.
Definition
2. Digital factory
Components of Digital Factory
6/10/2016
Key Technologies of Digital Factory
Digital modeling technology:
Digital factory is virtual simulation system based on digital
models. As the foundation of digital factory, digital modeling
technology is rather critical.
Virtual reality technology:
the virtual technology is able to offer us a immersed,
interactive and conceived multidimensional information
space, which can offer a good human-computer interaction.
The level of virtual technology we can achieve largely affects
the maneuverability of the digital factories system, and it also
affects the correctness of the users’ judgments to the product
design as well as the producing process.
Optimization simulation technology:
The Optimization simulation technology is all about
analyzing all kinds of potential problems and optimizing
programs that may occur during the process of the virtual
producing according to the built digital models and the
simulated results from the simulating system and other
predicted data. When it comes to whether can mostly exert
enterprise’s benefit and improve enterprise’s competitiveness,
the level of this optimizing simulation technology is vital.
6/10/2016
Key Technologies of Digital Factory
Application production technology:
As the need of the producing automation, digital factories
systems is expected to offer all sorts of controlling programs
that can be directly applied in the actual producing equipment
and all kinds of processes and report files which could be
needed. All kinds of friendly and excellent application
interface could accelerate the transforming process from
digital design to actual producing application.
6/10/2016
Key Technologies of Digital Factory
Significance of Developing Digital Factory
Preplanning & Flexible Production
Shorten Development Cycle & Improve Product
Competitiveness
Save Resources, Lower the Cost & Increase
Capital Profit
Improve Product Quality
6/10/2016
6/10/2016
3. CNC Machine Center
1 Introduction to the Curriculum
2
3
4
Curriculum System
5
Demand
Syllabus
PBL Teaching Mode
Course Overview
6/10/2016
Life
cyc
le D
es
ign
CIM
S(c
om
pu
ter in
teg
rate
d
man
ufa
ctu
ring
sy
ste
m)
Mechanical design, manufacturing and
automation technology
Modern Design
Technology
Advanced
Manufacturing
Technology
Manufacturing
Automation
Technology
Re
liab
ility D
es
ign
Inte
lligen
t De
sig
n
Ind
ustria
l rob
ot
CN
C te
chnolo
gy
ER
P(E
nte
rpris
e
Re
so
urc
e P
lan
nin
g)
Fle
xib
le M
an
ufa
ctu
ring
Te
ch
no
log
y
Ac
cu
rate
an
d e
fficie
nt
meta
l form
ing
pro
ces
se
s
ultra
-pre
cis
ion
mac
hin
ing
tec
hn
olo
gy
Modern
management
technology
… … … …
CE
(Co
nc
urre
nt
En
gin
ee
ring
)
6/10/2016
Pre
cis
e a
nd
cle
an
ca
stin
g
Sort SID Course Credit
1Theoretical
mechanics 5.5
2Mechanics of
materials 6
3 Circuit analysis 3
4 Circuit testing 3
5 Artificial circuit B 2
6 Digit circuit 2
Total 21.5
Mech
anics
electr
icity
Sort SID Course Credit
1 Engineering graphics 6
2 Mechanical principle 3
3 Mechanical Design 3
4 Engineering material 2
5 Process technology 3
6Manufacturing
engineering foundation 12
7Manufacturing
engineering foundation 22
8Electrical and control
engineering 13
9Electrical and control
engineering 22
10 Measurement technique 2
11 C language programming 3
12Software technology
foundation3
13Microcomputer principle
and interface design4
Total 38
Design
Manufa
cture
Control
Info
Discipline professional foundation course
6/10/2016
Overview
Character: This course is the professional foundation course of mechanical
engineering and automation, and it is the core comprehensive practical course of
control.
课程结构 主要内容 学时
机电控制基础知识 机电一体化系统总体设计,项目研发计划书撰写 传感、驱动、微机控制系统设计、控制系统建模仿真 插补算法与数控编程
14
项目实践 基于AVR单片机的步进电机控制实验 MATLAB软件操作与直流伺服电机系统建模、仿真
实验; 插补算法与数控编程实验
14
研讨会 项目实践及前沿发展趋势研讨 6
6/10/2016
1 Introduction to the Curriculum
2
3
4
Curriculum System
5
Demand
Syllabus
PBL Teaching Mode
Course overview
6/10/2016
Curriculum System
• Concepts, definitions, composition, range and classification;
• Design method (guidelines, procedures, appearance);
• Machinery - construction and transmission (ball screw drive gear,
harmonic gear drive, belt drive, rails, spindle assembly, support);
• Sensors - positioning and detection (angular displacement, grating
displacement, electromagnetic induction);
• Servo drives (stepper motors, DC motors, AC motors, open-loop
servo loop servo);
• Microcomputer Principle and Control System (principles, interfaces,
movement of the transfer function, the control algorithm);
• Typical examples of mechatronics -robots and CNC machine tools
• Trends
1 Introduction to the Curriculum
2
3
4
Curriculum System
5
Demand
Syllabus
PBL Teaching Mode
Course overview
6/10/2016
• Consolidate student’s basic theory and knowledge
• Develop student’s ability on using comprehensive
knowledge to solve a specific problem
• Let the students know the latest technology in the
field of mechatronics
• Lay the foundation for the research in mechatronic
system in the future
Our Wishes
• Combining lecture with practice, 1:1;
• Grading according to practice project
(X-Y NC Worktable)
• Questions will be answered by laboratory course
or through our website.
Arrangement
• Limited time , a wide coverage of contents.
• Do not learn for final exam, learn for improving
your ability.
Hardworking
6/10/2016
1 Introduction to the Curriculum
2
3
4
Curriculum System
5
Demand
Syllabus
PBL Teaching Mode
6/10/2016
Course overview
1. Topics Arrangement
Main Line:
Introduction Designing method Choosing devices
Modeling and analyse Developing control system
CNC control practice Learning exchange
Latest technology
序号 日期 节数 教 学 内 容 备 注
1 3.4 2 课程简介第一章:绪论——机电控制系统体系结构与发展趋势
理论
2 3.11 2 第二章:机电一体化系统总体设计,项目研发计划书 理论
3 3.18 2 第三章:传感器分类、常用传感检测系统设计 理论
4 3.25 2 第四章:驱动系统设计 理论
5 4.1 2 第五章:微机控制系统的设计与开发方法 理论
6 4.8 2 AVR单片机基础实验 实验
7 4.15 2 AVR单片机基础实验 实验
8 4.22 2 步进电机驱动控制实验 实验
9 4.29 2 第六章:控制系统建模与分析 理论
10 5.6 2 MATLAB软件操作与直流伺服电机系统建模、仿真与分析实验
实验
11 5.13 2 MATLAB软件操作与直流伺服电机系统建模、仿真与分析实验
实验
12 5.20 作业点评:基于AVR单片机的步进电机控制实验 研讨
13 5.27 2 第七章:插补算法与数控编程 理论
14 6.3 2 插补算法实验 实验
15 6.10 2 数控编程实验 实验
16 6.17 2 研讨课:机电控制技术前沿发展趋势 研讨
17 6.24 2 作业点评:插补算法及数控编程实验 研讨6/10/2016
2. Examination and Grading
• Performance in practice will be valued.
• Usual-time mark : 10%
Practice project : 50%
Final exam : 40%
• Distribution of practice project:
MCU : : 25 point
Interpolation algorithm: 15 point
CNC programming: : 10 point
3. PREREQUISITES
Prerequisites:
Mechanical Design
Measurement technology
Electromechanical Transmission Control
Electrical control engineering I
Microcomputer principle and interface technology
The basis of computer software technology
4. REQUIRED TEXTS
[1] Teaching material & experiment guidebook
[2] 王田苗. 机电控制基础理论及应用.清华大学
出版社,2002
[3] 机电一体化系统设计, Devdas Shetty著,张
树生译,机械工业出版社,2006
6/10/2016
5. Q&A
Lecture room:(一)212
Laboratory:New Main building B307
Time:Week 1-16 Tuesday(5, 6)
TA :潘俊威(Pan Junwei);13126522848
Teaching material download:E-mail: [email protected],password: xdjdkz2014
Assignment submit to:E-mail: [email protected]
6/10/2016
6. Group Cases
Conceding the limited equipment and to cultivate one’s team work sprit, Group Cases are as follows:
• The recommended member of a group is 3 – 4.
• Team up freely, a team, a leader, and the leader should
leave his/her contact information to the TA.
• The work should be clearly divided, which will decides
one’s final grade.
• If a student didn’t find a team for some special reasons,
the teacher will decide for you.
6/10/2016
Course Project
Three in total:
1st :Controlling stepping motor based on AVR MCU
2nd :Programing with interpolation algorithm
3rd : CNC programming
6/10/2016
Modern Mechatronics System Control
Based on specific project
Introduction
Unit character
Modeling & simulation
Hardware design
Project practice
Project plan
How to build mechatronicssystem with reasonable
device
How to analyze a specific system
How to design a specific circuit
How to accomplish a project
6/10/2016
Course Project
Course Project 1(Undergraduates are not required)
1.Title
The researching and developing plan of “bicoordinate numerical control workbench system “and the design of system scheme
2.Purposes
1) Cultivate the ability of planning the projects of mechatronic systems;2) Cultivate the ability to designing schemes of mechatronic systems;3.Demands
1) Goal:Researching and developing a bicoordinate numerical control workbench as the experimental and teaching platform for this course;
2) Function:Draw the route of the work bench with a pen in the horizontal plain and simulate the process of numerical control processing.
3) Performancea. Degree of freedom:2(can be extended to 3);
b. Driver:DC servo motor and stepper motor, open loop control for stepper motor and half closed loop control for DC servomotor;
c. Size of the workbench≤450×450mm2,effective stroke within 200mm;
d. Accuracy of location:1mm;e. Velocity≤1mm/s;
f. Load<=200N;
4) Othersa. Duration:3 months;b. Cost:within ¥20 000;c. Members:2。
1.Experimental topics
The modeling and emulation analysis of velocity loop control system of single-DOF and
linear motion unit
2.Experimental topics
Master modeling and emulation methods and skills of electromechanical control
system;
Learning to use MATLAB Simulink toolbox to build mathematical model and to
draw graph in time-domain and frequency-domain.
3.Task
Set up mathematical model of the linear motion unit when the velocity is open loop
controlled and determine the key factors with the given data, simplifying it and
simulating it with MATLAB.
6/10/2016
Course Project 2
1. Title
Controlling experiment on linear motion unit of NC Worktable
2. Purpose
Master simple application of AVR system;
Master application of AD converter in AVR MCU;
Study how to use AVR’s timer, understand the concept of disruption;
Learn how to control stepper motor by AVR MCU;
3. Practice
Use MCU to control speed and direction of stepper motor.
6/10/2016
Course Project 3
1.Title
Comprehensive experimental of CNC programming and interpolation algorithm
2.Purpose
Learn how to program in G code.
Learn how to realize interpolation algorithm
3.Practice
Write your code to realize by-point interpolation algorithm of line and arc,
simulate and compare your code to the demo.
Design a pattern by G code, get simulation done and manufacture the
product by X-Y worktable.
Course Project 4
Teaching Equipment: X-Y NC Worktable
6/10/2016
Teaching Equipment: MCU test chamber
6/10/2016
7. Instruction
1. The Three projects are required to be finished by your
own, The similar homework do not count.
2. The contents of one’s homework should not be the same
as the teaching materials, if you to get a high score.
Innovated contents will be helpful.
3. Your homework is intended to be submitted before the
deadline, late delivery will lower your grade.
4. Please participate lectures and practice course on time,
use our equipment carefully and keep the environment
clean.
5. Close your computer after class.
6/10/2016
Examination & Evaluation
Guidance Examination
Face to
Face
By
Internet
Work
Exhibition
Classroom
Presentation
Classroom
Discussion
Practical Teaching-Examination & Evaluation
Website—itr.buaa.edu.cn
6/10/2016
6/10/2016