AUTOMATION AND

ROBOTICS
DAR ES SALAAM INSTITUTE OF TECHNOLOGY
DEPARTMENT OF MECHANICAL ENGINEERING

LECTURER BY: ENG ALLEN GEORGE MTUNGUJA

 What is Mechatronics?
Is the combination of mechanical, electrical, and computer systems employing mechanical engineering,
electrical engineering, electronic engineering and software engineering, and also includes a
combination of robotics, computer science, telecommunications, systems, control, automation and
product engineering.
Major areas of Mechatronics:
What is Automation in Mechanical engineering?

• Automation is the use of technology and systems to perform tasks

automatically, with minimal human intervention, to improve
efficiency, accuracy, and productivity in manufacturing and other
processes.
• Examples of Automated Systems in Mechanical Engineering:

i. Automated Assembly Lines:

ii. Material Handling Systems:.
iii. Automated Manufacturing Processes:
iv. Automated Inspection Systems:
v. Robotics:
The Component of Mechanical Automation Technology

1. System E.g. throttle system

2. Input and output signals

Control unit

3. Sensor and transducer

Throttle position sensor
 Modeling of Mechanical systems

Is the presentation of mechanical systems in order to analyze

their behavior/ performance using mathematical equations,
diagrams, or computer simulations to understand and predict
their behavior, often employing Newton's laws and considering
elements like mass, springs, and dampers?
 Here's a more detailed breakdown of modeling
mechanical systems:
Kinematic Models:
• Focus on the geometry and motion of the system, describing how parts move without
considering forces or mass.
Dynamic Models:
• Consider forces, mass, and motion to predict how the system will behave under different
conditions.
Static Models:
• Analyze the system in equilibrium, where forces are balanced and there's no motion.
Linear vs. Nonlinear Models:
• Linear models assume a proportional relationship between inputs and outputs, while nonlinear
models account for more complex interactions.
Deterministic vs. Stochastic Models:
• Deterministic models assume predictable behavior based on fixed inputs, while stochastic models
account for randomness and uncertainty.
Key Concepts in Mechanical
System Modeling:
Newton's Laws: These laws form the foundation for modeling the motion of
objects and forces acting on them.

Free Body Diagram: A visual representation of the system, showing all

forces acting on it.

Degrees of Freedom: The number of independent motions a system can

have.
Translational vs. Rotational Systems:
• NB: Mechanical systems can be modeled as moving in a straight line
(translational) or rotating around an axis (rotational).
Basic Elements of Mechanical
System Modeling:
Common elements in mechanical systems include masses, springs,
dampers, and actuators.
Analogous Systems:
• Systems can be modeled as analogous to electrical systems,
simplifying analysis.

• Transfer Functions:
Represent the relationship between the input and output of a system in
the time or frequency domain.
Steps in Modeling Mechanical
Systems:
i. Define the System Boundary: Identify the components and
interactions that are relevant to the analysis.
ii. Identify Key Components (masses, springs, dampers)
iii. Create a Free Body Diagram (FBD)
iv. Write Equations of Motion
v. Use mathematical or computational methods to find the system's
response to different inputs.
vi. Validate the Model (Compare the model's predictions with real-
world measurements or experimental data)
Example: Modeling of Translational Mechanical
Systems

• Translational mechanical systems move along a straight line.

• These systems mainly consist of three basic elements which are mass,
spring and damper (dashpot).
1. mass (stores kinetic energy)

Where:
F is the applied force
Fm is the opposing force due to mass
M is mass a is acceleration
x is displacement
2. Spring (stores potential energy)

Where:
F is the applied force
Fk is the opposing force due to elasticity of spring
K is spring constant
x is displacement
 3. Damper (friction resistance)

Where:
Fb is the opposing force due to friction of dashpot
B is the frictional coefficient
v is velocity
x is displacement
 Modeling Methods

 State assumptions and their rationales

 Establish inertial coordinate system
 Identify and isolate discrete system elements (springs, dampers, masses)
 Determine the minimum number of variables needed to uniquely define the
configuration of system (subtract constraints from number of equations)
 Free body diagram for each element
 Write equations relating loading to deformation in system elements
 Apply Newton’s 2nd Law:
F = ma for translation motion
T = Iα for rotational motion
Example 1: Automobile Shock Absorber
 Example 2: Mechanical System

• Draw a free body diagram, showing all forces and their

directions
• Write equation of motion and derive transfer function of
response x to input u
Example 3: Two-Mass System

 Question: Derive the equation of motion for x2 as a

function of Fa .
The indicated damping is viscous
Assignment 1
 Derive the equation of motion for x2 as a function of Fa .
The indicated damping is viscous.
 TRANSFER FUNCTION

A transfer function is a convenient way to represent a linear, time-invariant system

in terms of its input-output relationship.

It is obtained by applying a Laplace transform to the differential equations

describing system dynamics, assuming zero initial conditions.
 Differential equations
Are equations that relate an unknown function and its derivatives, used to model various
phenomena in science and Engineering, they can be classified as ordinary (dependent on one
variable) or partial (dependent on multiple variables).

The different types of differential equations are:

i. Ordinary Differential Equations.
ii. Homogeneous Differential Equations.
iii. Non-homogeneous Differential Equations.
iv. Linear Differential Equations.
v. Nonlinear Differential Equations.
 Laplace transform
Is the mathematical transformation which allows function of time t, to be
represented in a new variable s, the Laplace operator.
Example for Exponential Function

Is given by

Conventionally, functions of time are written in

lower case example x(t)
And function of the Laplace operator are
written in upper case X(s)
Note the transfer function (G) of a system is defined as the
Laplace transform of the output divided by the Laplace
transform of the input.

Provided the initial conditions are zero, the transformed

output is given my multiplying the transfer function by the
transformed input.
Example 1
The figure below shows a schematic
representation of spring/mass/damper
system. The body of mass m, is
suspended on a spring element of
stiffness, k, Friction and air drag losses
can be assumed to behave linearly
producing a damping force.
Assume that the mass only move
vertically, determine the transfer function
of the system relating the mass
displacement y to the spring
displacement x.
BLOCK DIAGRAM
REPRESENTATION
Block diagrams consist of a single block or a combination of blocks. These are used to
represent the control systems in pictorial form.
The transfer function of a component is represented by a block. Block has single input
and single output.
The following figure shows a block having input X(s), output Y(s) and the transfer
function G(s).
 CONTYROL SYSTEAMS

There are two types of control systems commonly used:

and

Open-loop closed-loop systems

An open-loop control system, also called a non-feedback system, is a
control system where the control action is independent of the output, meaning the system
doesn't use feedback to adjust itself based on its output.
A closed-loop control system, also known as a feedback control system, continuously
monitors its output, compares it to a desired value, and adjusts the input to maintain the desired output,
making it more accurate and adaptable than an open-loop system.