Introduction

to
Mechatronics
Cover
Dr. Tilak Thakur

© Oxford University Press 2016. All rights reserved.

 ACTUATORS
On receipt of the controller command(s) a relay switch and /or
correcting element or final control element comes into action to
implement the decision of the controller.
Action like : opening of a door, closing of a door ,printing ,firing a
bullet ,answering a question etc.
It can be implemented through any one or combination of various
mechanical, electrical, hydraulic ,pneumatic equipment &
devices.
Accordingly it named as ( Types of Actuators) :Mechanical,
electrical, hydraulic, and pneumatic actuators .

© Oxford University Press 2015. All rights

reserved.
 Chapter 11
Mechanical Actuating System
Mechanisms :A combination of kinematic
chains with at least one chain fixed to a transit
motion.
• Types of Mechanisms
• (a) simple and
• (b) compound.

© Oxford University Press 2015. All rights

reserved.
 Motion of an object
Translational Rotational
• Degrees of Freedom :
Number of degrees of freedom of a motion
=Number of components needed to produce
the motion

© Oxford University Press 2015. All rights

reserved.
 Mechanisms in Mechatronic
• Based on types of motion :
1. Rotary to rotary (R–R)
2. Rotary to translation (R–T)
3. Translation to rotary (T–R)
4. Translation to translation (T–T)
5. Helical to rotary (H–R)
6. Helical to translation (H–T)
7. Inversion of mechanism:
© Oxford University Press 2015. All rights
reserved.
 Components of Mechanism

• Joints
• Links

© Oxford University Press 2015. All rights

reserved.
 Kinematic Chains

• Four-bar Chains

© Oxford University Press 2015. All rights

reserved.
 Gears

© Oxford University Press 2015. All rights

reserved.
 Types of Gear Drive Systems
• Spur gear
• Helical gear
• Crossed helical gear
• Bevel gear
• Worm gear
• Pinion–rack

© Oxford University Press 2015. All rights

reserved.
 Gear Trains

© Oxford University Press 2015. All rights

reserved.
 Clutches
A coupling device used to separate the engine
and mechanical transmission .

© Oxford University Press 2015. All rights

reserved.
Belt/Rope Pulley Drives

© Oxford University Press 2015. All rights

reserved.
 Cam–follower Mechanisms

Knife (Point) Edge Cam Followers

• Eccentric cams
• Heart-shaped cams
• Pear-shaped cams
• Roller-type Followers

© Oxford University Press 2015. All rights

reserved.
Ratchets and Pawls

© Oxford University Press 2015. All rights

reserved.
 Belt and Chain Drives
• Types of Belts
• Flat belts
• Round belts
• V belts
• Timing belts

© Oxford University Press 2015. All rights

reserved.
 Bearings

• Linear Bearings
• Journal Bearings
• Hydrodynamic Bearings

© Oxford University Press 2015. All rights

reserved.
 Chapter 12

Electrical Actuating System

© Oxford University Press 2016. All rights reserved.

 Introduction
*Electrical actuators : Switches, Contacts,
Relays, Solid state device switches,
motors.
*Machines and systems involve various
types of movements: variety of motors,
*Range: Smallest motors(watch) to largest
motors(Ship propulsion) .

© Oxford University Press 2015. All rights

reserved.
 ELECTRICAL RELAYS, SOLENOIDS
• Switches :SPST ,SPDT ,DPDT
• Fuses :
• Magnetic Switches :
• Solenoids and Relays :Reed Relays
• Relay timers :
(i)On delay relay timer,
(ii)Off delay relay timer

© Oxford University Press 2015. All rights

reserved.
 SOLID-STATE SWITCHES
Semiconductor devices such as:
• diodes,
• transistors,
• thyristors,
• DIACs, and
• TRIACs,
They can perform high-speed switching.

© Oxford University Press 2015. All rights

reserved.
 ELECTRIC MOTORS

*An electric motor :An electromechanical device.

*Converts electrical power into mechanical power
and offers rotary or converted linear motion
through available mechanical power.
*Classification: Type of electrical energy input,
construction, or application.
*It can run on DC, AC, and dual power supply, that
is, DC or/and AC supply.
*Power rating: Milli watts to millions of watts

© Oxford University Press 2015. All rights

reserved.
 Types of DC Motors
DC Motors Types :
(i)Brushed DC Motors with Field Windings
• Self-excited DC motors : Series, shunt,
compound
• Separately Excited DC motors
(ii) Brushless DC Motors

© Oxford University Press 2015. All rights

reserved.
 Self-excited DC motors
• Field coil as well as armature windings are
excited by the same source.

© Oxford University Press 2015. All rights

reserved.
© Oxford University Press 2015. All rights
reserved.
 Separately -excited DC motors
Field coil and armature winding are excited by
separate sources.

© Oxford University Press 2015. All rights

reserved.
 Brushless DC (BLDC) Motor
*The drawback of a brush-type motor is
eliminated by making an electronic
commutation process to output an AC
trapezoidal voltage signal.

• A BLDC motor is fed with a DC supply, like a DC

motor, behaves similar to a synchronous
motor.

© Oxford University Press 2015. All rights

reserved.
 DC Servo Motor
• A DC servo motor: A precise position, speed, and
acceleration control.
• Components : Motors (DC or AC), gear train
feedback mechanisms, potentiometric position
control, and ICs for closed-loop control.
• DC servo motor has a fixed armature
voltage/current with a variable field current, fed
through a DC rectifier pulse known as pulse code
modulated (PCM) signal.
© Oxford University Press 2015. All rights
reserved.
© Oxford University Press 2015. All rights
reserved.
 Stepper Motor
*A stepper motor: Asynchronous motor to
output a mechanical discrete movement against
the supply of electrical pulses to its phase
windings.
*Rotor Movement: Function of frequency of the
electrical pulse applied as well as on the
sequence of application of the pulses.
*Total shaft movement and displacement:
Functions of duration of time.
© Oxford University Press 2015. All rights
reserved.
Types of Stepper Motor Winding

© Oxford University Press 2015. All rights

reserved.
Step Implementation

© Oxford University Press 2015. All rights

reserved.
Steps : 15 ,30 ,45,60 90 ….degrees
(above step angle are normal)

© Oxford University Press 2015. All rights

reserved.
 AC Motors

* Runs at AC supply.
*Types: Single-phase type or three-phase type.
*Types of Three-phase AC motors: Synchronous
motors and Asynchronous/Induction motors
(IMs).
*A synchronous motor : Always runs at the
same speed, called the synchronous speed.
*A three-phase IM: Squirrel-cage type or Slip-
ring type
© Oxford University Press 2015. All rights
reserved.
 Single Phase AC Motors

It is basically a two phase motor as its phase is splited.

© Oxford University Press 2015. All rights

reserved.
 Universal Motors
Runs on DC as well as AC power supply used in house hold .

© Oxford University Press 2015. All rights

reserved.
 Chapter 13
Hydraulic and Pneumatic
Actuating Systems

© Oxford University Press 2016. All rights reserved.

 Introduction
• Mechanical actuators issues: Heavy weight, friction,
noise, temperature rise, and sometimes pollution.
• A hydraulic signal: Produced by hydraulic pressure and
is used for higher-power control devices
• Pneumatic signal: Produced by air or gas pressure.
• Used to actuate large valves and other high-power
devices.
• A hydraulic and pneumatic system is collectively called
a fluidic system.

© Oxford University Press 2015. All rights

reserved.
 Components of Hydraulic Circuits

• Reservoir.
• Pump
• Pressure gauge
• Flow meter
• Pressure relief valve
• Flow valve
• Accumulator
• Fluid control valve
• Check valve
• Hydraulic motor

© Oxford University Press 2015. All rights

reserved.
 Valves /Types of Valves

Valve symbols

© Oxford University Press 2015. All rights

reserved.
 Pressure Control Valves

• Pressure Relief (Limiting) Valves

• Pressure Regulators
• Pressure Sequencing Valves

© Oxford University Press 2015. All rights

reserved.
© Oxford University Press 2015. All rights
reserved.
© Oxford University Press 2015. All rights
reserved.
 Directional Control Valves
Poppet Valve Spool Valve

© Oxford University Press 2015. All rights

reserved.
 Methods of Spool Actuation

• Manual
• Mechanical actuation.
• Pneumatic actuation
• Electrical actuation
• Hydraulic actuation

© Oxford University Press 2015. All rights

reserved.
 Linear Actuators—hydraulic Cylinders
• A fluid power hydraulic cylinder performs its
task under pressure for movement which is
directly proportional to the applied force or
power; thus, it is treated as a linear actuator
• Classification of Cylinder
(a) single-acting cylinders (SACs) and
(b) double-acting cylinders (DACs).

© Oxford University Press 2015. All rights

reserved.
© Oxford University Press 2015. All rights
reserved.
© Oxford University Press 2015. All rights
reserved.
 Flow Control Valves
• Flow control in hydraulic and pneumatic
circuits is required for the speed control of the
system using a linear or rotary motion.
• Types of flow control:
Fixed flow valves,
variable flow valves,
and pressure-compensated flow control valves

© Oxford University Press 2015. All rights

reserved.
 Contd...

© Oxford University Press 2015. All rights

reserved.
 Pneumatic Systems

• A pneumatic system is like a hydraulic system

• Components :a compressor,
- an air treatment unit,
- a reservoir,
-a DCV with air as the medium

© Oxford University Press 2015. All rights

reserved.
 Contd...

© Oxford University Press 2015. All rights

reserved.
 Pneumatic Valves

• Directional Control Valves

• Spool Valves

© Oxford University Press 2015. All rights

reserved.
 Pneumatic Cylinders
Types of Pneumatic cylinders :
-single-acting and
_ double-acting types

© Oxford University Press 2015. All rights

reserved.
© Oxford University Press 2015. All rights
reserved.
 Pneumatic Circuits
• A pneumatic circuit components: a
compressed air ,an SAC or a DAC with a three-
way or a 5/2-way valve.

© Oxford University Press 2015. All rights

reserved.
 Contd...

© Oxford University Press 2015. All rights

reserved.
 Thanks
• Thanks

© Oxford University Press 2015. All rights

reserved.