Introduction to Mechatronics and Robotics

Mechatronics
Mechatronics is a multidisciplinary field that combines mechanical engineering, electrical engineering, and
computer science to design and control advanced systems.

Open-loop control System

An open-loop control system is a system in which the output depends on the input, but the input is
completely independent of the output. There is no feedback mechanism, so the system does not
adjust the input based on the actual output or system performance.

Example: Lights, Fan, Washing machine, Stereo system, Bread toaster.

Advantages
• Simple in construction and design.
• Economical.
• Easy to maintain.
• Generally stable.

Dis-advantages
• They are inaccurate
• They are unreliable
• Any change in output cannot be corrected automatically

Closed-loop control System

A closed-loop mechatronic system is a system that uses feedback to adjust its control action
based on the system's output or performance. In a closed-loop system, a sensor is used to
measure the system's output or performance, and the feedback signal is used to adjust the control
action to improve the system's performance. Closed- loop systems are also known as feedback
control systems.

Examples of closed-loop systems include thermostats, cruise control in cars, and aircraft autopilot
systems

Advantages
➢ Closed loop control systems are more accurate.
➢ Bandwidth range is large.
➢ Facilitates automation.
➢ This system is less affected by noise.

Dis-advantages
➢ They are costlier.
➢ They are complicated to design.
➢ Required more maintenance.
➢ Stability is the major problem and more care is needed to design a stable closed loop
system.

ROBOTICS AND AUTOMATION

Robotics can be defined as “A field of technology that deals with the conception, design,
construction, operation and application of robots”

Robot

A Robot is a reprogrammable, multifunctional manipulator designed to move material, parts,

tools or specialized devices through variable programmed motions of performance of a variety
of tasks.

Classification Based on Robotics Configuration

• Polar Configuration (Spherical Configuration)

• Cylindrical Configuration
• Cartesian Co-ordinate Robot
• Jointed – arm Configuration
Polar Configuration (Spherical Configuration)

Polar Configuration (Spherical Configuration): A polar or spherical configuration has three rotary
joints that allow the end effector to move in a spherical coordinate system. This configuration is
useful for applications that require a high degree of accuracy and precision, such as assembling
electronic components.
Applications
Material Handling, Welding, Machine Loading and Unloading, Assembly Operations, Spray
Painting

Cylindrical Configuration
 A cylindrical configuration has one rotary joint and one linear joint that allow the end effector
to move in a cylindrical coordinate system. This configuration is often used for applications
such as arc welding, drilling.
A cylindrical configuration is a type of robotic manipulator that has one rotary joint and one
linear joint that allow the end effector to move in a cylindrical coordinate system. The rotary
joint provides rotation around the vertical axis, while the linear joint moves the end effector
along a straight line parallel to the vertical axis
Applications
Machine Tool Handling, Assembly Operations, Spot welding, Material Transfer

Cartesian Configuration

Cartesian Co-ordinate Robot: A Cartesian coordinate robot has three linear joints that move the
end effector along the X, Y, and Z axes. This configuration is useful for applications such as
pick-and-place operations in manufacturing.
A Cartesian coordinate robot, also known as a rectilinear or gantry robot, is a type of robotic
manipulator that has three linear joints that move the end effector along the X, Y, and Z axes
of a Cartesian coordinate system. The base of the manipulator typically has a fixed frame that
supports the linear joints and the end effector.

Applications
Pick and place, CNC Machine Operations, Assembly line automation, Packaging and
Palletizing.
Jointed-arm Configuration

Jointed-arm Configuration: A jointed-arm configuration has several rotary joints that allow the
end effector to move in a wide range of directions. This configuration is often used for
applications such as welding or painting, pick and place robot.
A jointed-arm configuration, also known as an articulated robot, is a type of robotic manipulator
that consists of several rigid links connected by rotary or linear joints. This configuration allows
the robot to move its end effector in a wide range of motions and orientations, making it well-
suited for a variety of applications such as welding, painting, and material handling.

ADVANTAGES OF ROBOTS
• Can work in hazardous work environment
• Can produce greater quantity in short span of time
• Provides consistency and repeatability with accuracy
• Can work at constant speeds without any break
• Can work in tight spaces
• Produces lesser or no defective parts and hence saves times of rework and money to the
organisation.
• Can perform risky jobs and avoids accidents at workplace.

DISADVANTAGES OF ROBOTS
• Organisations have to make huge investments
• Since parts of a robots are made very precisely, their replacements are very difficult and
to maintain, it costs huge amount of money
• It requires highly skilled technical engineers and programmers which again is a
significant cost for the organizations
• Need good program capability and computers for performing a given task Cannot
recharge themselves, and hence need energy.
Automation

Automation is a technology concerned with the application of mechanical, electronic, and

computer-based systems to operate and control production.

Types of Automation:
• Fixed Automation.
• Programmable Automation.
• Flexible Automation

The three main types of automation are fixed automation, programmable automation, and flexible
automation.

Fixed Automation or Hard Automation: Fixed automation, also known as hard automation, is
a type of automation that is designed to perform a specific task repeatedly. The equipment used
in fixed automation is usually specialized and dedicated to a particular function. It is not easily
adaptable to changes in product design or production volume. Examples of fixed automation
include assembly lines, conveyor belts, and specialized machinery used in manufacturing
processes.
Programmable Automation or Soft Automation: Programmable automation, also known as
soft automation, is a type of automation that uses computer-controlled equipment to perform a
variety of tasks. This type of automation is more flexible than fixed automation, as the equipment
can be reprogrammed to perform different tasks. Examples of programmable automation include
computer numerical control (CNC) machines, robots, and automated guided vehicles (AGVs).

Flexible Automation: Flexible automation is a type of automation that combines the best
features of fixed and programmable automation. It is designed to be highly adaptable to changes
in product design and production volume, while still maintaining a high level of efficiency.
Flexible automation systems typically use computer-controlled equipment that can be
reconfigured quickly and easily. Examples of flexible automation include automated
manufacturing cells and flexible manufacturing systems (FMS).
Basic Elements of Automated system

The basic elements of an automated system typically include:

1. Sensors: Sensors are devices that detect physical or environmental changes, such as
temperature, pressure, motion, or light. They provide input data to the control system,
which uses this information to make decisions.

2. Actuators: Actuators are devices that convert the output signals from the control system
into physical actions, such as movement, heat, light, or sound. They are used to control
the physical processes in the system.

3. Control system: The control system is the "brain" of the automated system, which
receives input data from sensors, processes it, and sends output signals to actuators. The
control system can be programmed to perform
specific tasks, based on the input data and predefined logic.

4. Communication network: The communication network is used to connect the

different elements of the automated system, such as sensors, actuators, and the control
system. It can be a wired or wireless network, depending on the requirements of the
system.

5. Power supply: The power supply is responsible for providing the necessary electrical
power to the sensors, actuators, and control system. It can be a local or remote power
source, depending on the location of the automated system.
 ADVANTAGES OF AUTOMATION
• Increase in productivity
• Improvement in Product Quality
• Increase in accuracy and repeatability
• Improved safety at workplace
• Reduction in manufacturing lead time
• Reduced direct human labour cost and expenses
• Mitigation of Potential Labour Shortages

DISADVANTAGES OF AUTOMATION
• High initial cost
• Additional cost
• Security threats
• Human dependency on machines
• Results in increased Unemployment