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Mechatronics Engineering

Course Introduction

School of Mechanical Engineering and Automation

Beihang University

Prof. Tianmiao Wang Prof. Li Wen

Professor biography

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• 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

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• 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

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Definition of Mechatronics

Mechatronics: comes from Japan(1970s), it’s the

combination of mechanism and electronics.

Mechanism

Electronics

Mechatronics

Mechatronics

Informatics

Mechanic

electronics

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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.

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Contents of Mechatronics

Mechatronics

Mechatronics Technology

Mechatronics products

CNC milling machine

Automated Robot

Intelligent robot

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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?

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• The most advanced humanoid robot--ATLAS?

• Japanese 5-Axis CNC machining center.

• The world's first mass-produced battle droid–

KURATAS.

International Achievements

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Typical Mechatronics Device

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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.

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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.

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Application Area of 3D printer

Commercial Manufacture

Application Area of 3D printer

Culture and Creativity Industry

Aeronautics and Astronautics & Military

Industry

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Application Area of 3D printer

Biomedical organism

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Application Area of 3D printer

Building Project

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Application Area of 3D printer

Entertainment

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Application Area of 3D printer

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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

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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.

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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.

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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

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3. CNC Machine Center

1 Introduction to the Curriculum

2

3

4

Curriculum System

5

Demand

Syllabus

PBL Teaching Mode

Course Overview

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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

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electr

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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

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Control

Info

Discipline professional foundation course

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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

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1 Introduction to the Curriculum

2

3

4

Curriculum System

5

Demand

Syllabus

PBL Teaching Mode

Course overview

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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

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• 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

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1 Introduction to the Curriculum

2

3

4

Curriculum System

5

Demand

Syllabus

PBL Teaching Mode

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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

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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: xdjdkzbk2014@163.com，password： xdjdkz2014

Assignment submit to：E-mail: xdjdkzbk_zy2014@163.com

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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.

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Course Project

Three in total:

1st ：Controlling stepping motor based on AVR MCU

2nd ：Programing with interpolation algorithm

3rd ： CNC programming

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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

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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.

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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.

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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

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Teaching Equipment: MCU test chamber

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Teaching Equipment

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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.

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Examination & Evaluation

Guidance Examination

Face to

Face

By

Internet

Work

Exhibition

Classroom

Presentation

Classroom

Discussion

Practical Teaching－Examination & Evaluation

Website—itr.buaa.edu.cn

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