Mechatronics: An Integrated Approach

Content: Cover MECHATRONICS Dedication Preface The Author Acknowledgments Source Credits Table of Contents 1 Mechatronic Engineering 1.1 Mechatronic Systems 1.2 Modeling and Design 1.3 Mechatronic Design Concept 1.4 Evolution of Mechatronics 1.5 Application Areas 1.6 Study of Mechatronics 1.7 Organization of the Book 1.8 Problem 2 Dynamic Models and Analogies 2.1 Terminology 2.2 Analogies 2.3 State-Space Representation 2.4 Model Linearization 2.5 Linear Graphs 2.6 State Models From Linear Graphs 2.7 Electrical Systems 2.8 Fluid Systems 2.9 Thermal Systems 2.10 Bond Graphs 2.11 Transfer-Function Models 2.12 Frequency Domain Models 2.13 Response Analysis and Simulation 2.14 Problems 3 Mechanical Components and Robotic Manipulators 3.1 Mechanical Components 3.2 Transmission Components 3.3 Robotic Manipulators 3.4 Robotic Grippers 3.5 Problems 4 Component Interconnection and Signal Conditioning 4.1 Component Interconnection 4.2 Impedance Characteristics 4.3 Amplifiers 4.4 Analog Filters 4.5 Modulators and Demodulators 4.6 Analog-Digital Conversion 4.7 Sample-and-Hold (S/H) Circuitry 4.8 Multiplexers (MUX) 4.9 Digital Filters 4.10 Bridge Circuits 4.11 Linearizing Devices 4.12 Miscellaneous Signal Modification Circuitry 4.13 Signal Analyzers and Display Devices 4.14 Problems 5 Performance Specification and Analysis 5.1 Parameters for Performance Specification 5.2 Time Domain Specifications 5.3 Frequency Domain Specifications 5.4 Linearity 5.5 Instrument Ratings 5.6 Bandwidth Design 5.7 Aliasing Distortion Due to Signal Sampling 5.8 Bandwidth Design of a Mechatronic System 5.9 Instrument Error Analysis 5.10 Statistical Process Control 5.11 Problems 6 Analog Sensors and Transducers 6.1 Terminology 6.2 Potentiometer 6.3 Variable-Inductance Transducers 6.4 Permanent-Magnet Transducers 6.5 Variable-Capacitance Transducers 6.6 Piezoelectric Sensors 6.7 Effort Sensors 6.8 Strain Gages 6.9 Torque Sensors 6.10 Tactile Sensing 6.11 Gyroscopic Sensors 6.12 Optical Sensors and Lasers 6.13 Ultrasonic Sensors 6.14 Thermo-Fluid Sensors 6.15 Other Types of Sensors 6.16 Problems 7 Digital Transducers 7.1 Advantages of Digital Transducers 7.2 Shaft Encoders 7.3 Incremental Optical Encoders 7.4 Absolute Optical Encoders 7.5 Encoder Error 7.6 Miscellaneous Digital Transducers 7.7 Problems 8 Stepper Motors 8.1 Principle of Operation 8.2 Stepper Motor Classification 8.3 Driver and Controller 8.4 Torque Motion Characteristics 8.5 Damping of Stepper Motors 8.6 Stepping Motor Models 8.7 Control of Stepper Motors 8.8 Stepper Motor Selection and Applications 8.9 Problems 9 Continuous-Drive Actuators 9.1 DC Motors 9.2 DC Motor Equations 9.3 Control of DC Motors 9.4 Motor Driver 9.5 DC Motor Selection 9.6 Induction Motors 9.7 Induction Motor Control 9.8 Synchronous Motors 9.9 Linear Actuators 9.10 Hydraulic Actuators 9.11 Hydraulic Control Systems 9.12 Fluidics 9.13 Problems 10 Digital Logic and Hardware 10.1 Number Systems and Codes 10.2 Logic and Boolean Algebra 10.3 Combinational Logic Circuits 10.4 Sequential Logic Devices 10.5 Practical Considerations of IC Chips 10.6 Problems 11 Microprocessors and PLCs 11.1 Digital Computer 11.2 Programmable Logic Controllers 11.3 Data Acquisition and Control 11.4 Problems 12 Control Systems 12.1 Control Engineering 12.2 Control System Performance 12.3 Control Schemes 12.4 Stability and Routh-Hurwitz Criterion 12.5 Root Locus Method 12.6 Frequency Domain Analysis 12.7 Controller Design 12.8 Compensator Design in the Frequency Domain 12.9 Controller Tuning 12.10 Design Using Root Locus 12.11 Digital Control 12.12 Problems 13 Case Studies in Mechatronics 13.1 Design of a Mechatronic System 13.2 Robotics Case Study 13.3 Iron Butcher Case Study 13.4 Projects Appendix A Tra.