Mechatronics

The term Mechatronics is a combination of the words “mechanics” and “electronics”. It is the blending of mechanical, electronic, and computer engineering into an integrated design and implementation. Mechatronics systems employ microprocessors and software as well as special-purpose electronics. The main objective of this interdisciplinary engineering field is the study of automated devices (e.g. robots) from an engineering perspective, thinking about the design of products and manufacturing processes. Today, mechatronics is having a significant and increasing impact on engineering - in the design, development, and operation of engineering systems. Mechatronics systems and products are well established in a great number of industries, such as the aircraft, automotive, computer, electronics, robotics/automation, manufacturing systems, computerized machine tools, communications, and biomedical industries. This book provides details on recent advances in mechatronics, and can be used as a guidebook for final undergraduate engineering courses (for example, mechanical, electronic, computer engineering) or as a reference to the subject of mechatronics at the postgraduate level. It can also serve as a useful reference for academics, mechatronics researchers, mechanical, electronic and computer engineers, and professionals in areas related to mechatronics and robotics.

Table of Contents:
Preface xi Chapter 1. Mechatronics Systems Based on CAD/CAM 1 Fusaomi NAGATA, Yukihiro KUSUMOTO, Keigo WATANABE and Maki K. HABIB 1.1. Introduction 1 1.2. Five-axis NC machine tool with a tilting head 1 1.3. Three-axis NC machine tool with a rotary unit 4 1.4. Articulated-type industrial robot 8 1.5. Desktop Cartesian-type robot 21 1.6. Conclusions 26 1.7. Bibliography 27 Chapter 2. Modeling and Control of Ionic Polymer–Metal Composite Actuators for Mechatronics Applications 29 Andrew MCDAID, Kean AW and Sheng Q XIE 2.1. Introduction 29 2.2. Electromechanical IPMC model 33 2.3. IPMC stepper motor 44 2.4. Robotic rotary joint 49 2.5. Discussions 63 2.6. Concluding remarks 63 2.7. Bibliography 64 Chapter 3. Modeling and Simulation of Analog Angular Sensors for Manufacturing Purposes 69 Joao FIGUEIREDO 3.1. Introduction 69 3.2. Pancake resolver model 73 3.3. Simulation and experimental results 94 3.4. Conclusions 99 3.5. Acknowledgment 99 3.6. Bibliography 99 Chapter 4. Robust Control of Atomic Force Microscopy 103 Bilin AKSUN GUVENC, Serkan NEC_PO_LU, Burak DEM_REL and Levent GUVENC 4.1. Introduction 103 4.2. Repetitive control of the vertical direction motion 104 4.3. MIMO disturbance observer control of the lateral directions 117 4.4. Concluding remarks 128 4.5. Acknowledgments 129 4.6. Bibliography 130 Chapter 5. Automated Identification 133 Hiroo WAKAUMI 5.1. Introduction 133 5.2. Serial binary barcode 134 5.3. Two-dimensional binary barcode 140 5.4. Ternary barcode 149 5.5. RFID 160 5.6. Application examples 163 5.7. Concluding remarks 164 5.8. Acknowledgments 164 5.9. Bibliography 165 Chapter 6. An Active Orthosis for Gait Rehabilitation 169 Shahid HUSSAIN and Sheng Q. XIE 6.1. Introduction 169 6.2. Compliant active orthosis design 178 6.3. Modeling 182 6.4. Control 184 6.5. Simulation results 187 6.6. Conclusions 189 6.7. Acknowledgment 189 6.8. Bibliography 190 Chapter 7. Intelligent Assistive Knee Exoskeleton 195 Mervin CHANDRAPAL, Xiaoqi CHEN and Wenhui WANG 7.1. Introduction 195 7.2. Overview of knee exoskeleton system 202 7.3. Modeling and control of pneumatic artificial muscle (PAM) 205 7.4. Modeling of high-speed on/off solenoid valve 211 7.5. Self-organizing fuzzy control 214 7.6. Surface electromyography 224 7.7. Hardware implementation 229 7.8. Concluding remarks 231 7.9. Acknowledgment 232 7.10. Bibliography 232 List of Authors 239 Index 241