Mechatronics (eBook)

Principles and Applications

Godfrey Onwubolu (Autor)

eBook Download: PDF

2005 | 1. Auflage
672 Seiten
Elsevier Science (Verlag)
978-0-08-049290-2 (ISBN)

Infos

"Mechatronics is a core subject for engineers, combining elements of mechanical and electronic engineering into the development of computer-controlled mechanical devices such as DVD players or anti-lock braking systems. This book is the most comprehensive text available for both mechanical and electrical engineering students and will enable them to engage fully with all stages of mechatronic system design. It offers broader and more integrated coverage than other books in the field with practical examples, case studies and exercises throughout and an Instructor's Manual. A further key feature of the book is its integrated coverage of programming the PIC microcontroller, and the use of MATLAB and Simulink programming and modelling, along with code files for downloading from the accompanying website.

*Integrated coverage of PIC microcontroller programming, MATLAB and Simulink modelling
*Fully developed student exercises, detailed practical examples
*Accompanying website with Instructor's Manual, downloadable code and image bank"

Inhalt

Cover 1
Contents 7
Preface 335
Acknowledgments 19
Chapter 1: Introduction to mechatronics 21
1.1 Historical perspective 21
1.2 Key elements of a mechatronic system 23
1.3 Some examples of mechatronic systems 30
Further reading 31
Problems 31
Chapter 2: Electrical components and circuits 33
2.1 Introduction 33
2.2 Electrical components 36
2.3 Resistive circuits 41
2.4 Sinusoidal sources and complex impedance 54
Problems 60
Further reading 64
Chapter 3: Semiconductor electronic devices 65
3.1 Introduction 65
3.2 Covalent bonds and doping materials 67
3.3 The p–n junction and the diode effect 68
3.4 The Zener diode 72
3.5 Power supplies 75
3.6 Active components 77
Problems 114
Further reading 116
Chapter 4: Digital electronics 119
4.1 Introduction 119
4.2 Number systems 120
4.3 Combinational logic design using truth tables 125
4.4 Karnaugh maps and logic design 133
4.5 Combinational logic modules 138
4.6 Timing diagrams 151
4.7 Sequential logic components 151
4.8 Sequential logic design 158
4.9 Applications of flip-flops 170
Problems 182
Further reading 187
Chapter 5: Analog electronics 189
5.1 Introduction 189
5.2 Amplifiers 191
5.3 The ideal operational amplifier model 192
5.4 The inverting amplifier 193
5.5 The non-inverting amplifier 194
5.6 The unity-gain buffer 195
5.7 The summing amplifier 195
5.8 The difference amplifier 196
5.9 The instrumentation amplifier 197
5.10 The integrator amplifier 199
5.11 The differentiator amplifier 200
5.12 The comparator 201
5.13 The sample and hold amplifier 202
5.14 Active filters 203
Problems 210
Further reading 219
Chapter 6: Microcomputers and microcontrollers 221
6.1 Introduction 221
6.2 Microcontrollers 225
6.3 The PIC16F84 microcontroller 228
6.4 Programming a PIC using assembly language 238
6.5 Programming a PIC using C 244
6.6 Interfacing common PIC peripherals: the PIC millennium board 260
6.7 The PIC16F877 microcontroller 264
6.8 Interfacing to the PIC 264
6.9 Communicating with the PIC during programming 275
Problems 275
Further reading 275
Chapter 7: Data acquisition 277
7.1 Introduction 277
7.2 Sampling and aliasing 278
7.3 Quantization theory 282
7.4 Digital-to-analog conversion hardware 284
7.5 Analog-to-digital conversion hardware 288
Problems 295
Further reading 297
Chapter 8: Sensors 299
8.1 Introduction 299
8.2 Distance sensors 300
8.3 Movement sensors 308
8.4 Proximity sensors 312
8.5 Electrical strain and stress measurement 317
8.6 Force measurement 325
8.7 Time of flight sensors 325
8.8 Binary force sensors 326
8.9 Temperature measurement 326
8.10 Pressure measurement 329
Problems 331
Further reading 332
Internet resources 332
Chapter 9: Electrical actuator systems 335
9.1 Introduction 335
9.2 Moving-iron transducers 336
9.3 Solenoids 337
9.4 Relays 337
9.5 Electric motors 338
9.6 Direct current motors 340
9.7 Dynamic model and control of d.c. motors 359
9.8 The servo motor 365
9.9 The stepper motor 365
9.10 Motor selection 369
Problems 373
Further reading 374
Internet resources 374
Chapter 10: Mechanical actuator systems 375
10.1 Hydraulic and pneumatic systems 375
10.2 Mechanical elements 383
10.3 Kinematic chains 386
10.4 Cam mechanisms 389
10.5 Gears 394
10.6 Ratchet mechanisms 400
10.7 Flexible mechanical elements 401
10.8 Friction clutches 402
10.9 Design of clutches 408
10.10 Brakes 413
Problems 417
Further reading 417
Chapter 11: Interfacing microcontrollers with actuators 419
11.1 Introduction 419
11.2 Interfacing with general-purpose three-state transistors 420
11.3 Interfacing relays 422
11.4 Interfacing solenoids 423
11.5 Interfacing stepper motors 425
11.6 Interfacing permanent magnet motors 427
11.7 Interfacing sensors 429
11.8 Interfacing with a DAC 432
11.9 Interfacing power supplies 433
11.10 Interfacing with RS 232 and RS 485 435
11.11 Compatibility at an interface 435
Problems 435
Further reading 436
Chapter 12: Control theory: modeling 437
12.1 Introduction 437
12.2 Modeling in the frequency domain 438
12.3 Modeling in the time domain 452
12.4 Converting a transfer function to state space 456
12.5 Converting a state-space representation to a transfer function 458
12.6 Block diagrams 458
Problems 466
Further reading 468
Internet resources 468
Chapter 13: Control theory: analysis 469
13.1 Introduction 469
13.2 System response 469
13.3 Dynamic characteristics of a control system 471
13.4 Zero-order systems 472
13.5 First-order systems 472
13.6 Second-order systems 475
13.7 General second-order transfer function 477
13.8 Systems modeling and interdisciplinary analogies 491
13.9 Stability 494
13.10 The Routh-Hurwitz stability criterion 496
13.11 Steady-state errors 504
Problems 519
Further reading 522
Internet resources 522
Chapter 14: Control theory: graphical techniques 523
14.1 Introduction 523
14.2 Root locus 523
14.3 Frequency response techniques 533
Further reading 548
Internet resources 549
Chapter 15: Robotic systems 551
15.1 Types of robot 551
15.2 Robotic arm terminology 552
15.3 Robotic arm configuration 553
15.4 Robot applications 556
15.5 Basic robotic systems 557
15.6 Robotic manipulator kinematics 565
15.7 Robotic arm positioning concepts 569
15.8 Robotic arm path planning 571
15.9 Actuators 574
Problems 574
Further reading 575
Chapter 16: Integrated circuit and printed circuit board manufacture 577
16.1 Integrated circuit fabrication 577
16.2 Printed circuit boards 582
Further reading 586
Chapter 17: Reliability 587
17.1 The meaning of reliability 587
17.2 The life curve 588
17.3 Repairable and non-repairable systems 589
17.4 Failure or hazard rate models 591
17.5 Reliability systems 593
17.6 Response surface modeling 599
Problems 604
Further reading 606
Internet resources 607
Chapter 18: Case studies 609
18.1 Introduction 609
18.2 Case study 1: A PC-based computer numerically controlled (CNC) drilling machine 609
18.3 Case study 2: A robotic arm 614
Problems 620
Further reading 622
Internet resources 623
Appendix 1: The engineering design process 625
A1.1 Establishment of need and goal recognition 625
A1.2 Specification 626
A1.3 System conception 626
A1.4 Detailed design 627
A1.5 Prototyping 627
A1.6 Testing 627
A1.7 Review and documentation 627
Appendix 2: Mechanical actuator systems design and analysis 629
A2.1 Introduction 629
A2.2 Helical springs 629
A2.3 Spur gears 632
A2.4 Rolling contact bearings 635
A2.5 Fatigue failure 640
A2.6 Shafts 646
A2.7 Power screws 647
A2.8 Flexible mechanical elements 650
Problems 653
Further reading 655
Appendix 3: CircuitMaker 2000 tutorial 657
A3.1 Drawing and editing tools 657
A3.2 Simulation modes 660
Index 661

Produkt-Details

• Erscheint lt. Verlag: 25.5.2005
• Sprache: englisch
• Themenwelt: Sachbuch/Ratgeber
• Themenwelt: Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
• Themenwelt: Informatik ► Weitere Themen ► CAD-Programme
• Themenwelt: Technik ► Bauwesen
• Themenwelt: Technik ► Elektrotechnik / Energietechnik
• Themenwelt: Technik ► Maschinenbau
• ISBN-10: 0-08-049290-8 / 0080492908
• ISBN-13: 978-0-08-049290-2 / 9780080492902