Mechatronics : Principles And Applications

Preface xiii Acknowledgments xvii Introduction to mechatronics 1(12) Historical perspective 1(2) Key elements of a mechatronic system 3(7) Some examples of mechatronic systems 10(3) Problems 11(1) Further reading 11(2) Electrical components and circuits 13(32) Introduction 13(3) Electrical components 16(5) Resistive circuits 21(13) Sinusoidal sources and complex impedance 34(11) Problems 40(4) Further reading 44(1) Semiconductor electronic devices 45(54) Introduction 45(2) Covalent bonds and doping materials 47(1) The p-n junction and the diode effect 48(4) The Zener diode 52(3) Power supplies 55(2) Active components 57(42) Problems 94(2) Further reading 96(3) Digital electronics 99(70) Introduction 99(1) Number systems 100(5) Combinational logic design using truth tables 105(8) Karnaugh maps and logic design 113(5) Combinational logic modules 118(13) Timing diagrams 131(1) Sequential logic components 131(7) Sequential logic design 138(12) Applications of flip-flops 150(19) Problems 162(5) Further reading 167(2) Analog electronics 169(32) Introduction 169(2) Amplifiers 171(1) The ideal operational amplifier model 172(1) The inverting amplifier 173(1) The non-inverting amplifier 174(1) The unity-gain buffer 175(1) The summing amplifier 175(1) The difference amplifier 176(1) The instrumentation amplifier 177(2) The integrator amplifier 179(1) The differentiator amplifier 180(1) The comparator 181(1) The sample and hold amplifier 182(1) Active filters 183(18) Problems 190(9) Further reading 199(2) Microcomputers and microcontrollers 201(56) Introduction 201(4) Microcontrollers 205(3) The PIC16F84 microcontroller 208(10) Programming a PIC using assembly language 218(6) Programming a PIC using C 224(16) Interfacing common PIC peripherals: the PIC millennium board 240(4) The PIC16F877 microcontroller 244(1) Interfacing to the PIC 244(11) Communicating with the PIC during programming 255(2) Problems 255(1) Further reading 255(2) Data acquisition 257(22) Introduction 257(1) Sampling and aliasing 258(4) Quantization theory 262(2) Digital-to-analog conversion hardware 264(4) Analog-to-digital conversion hardware 268(11) Problems 275(2) Further reading 277(2) Sensors 279(36) Introduction 279(1) Distance sensors 280(8) Movement sensors 288(4) Proximity sensors 292(5) Electrical strain and stress measurement 297(8) Force measurement 305(1) Time of flight sensors 305(1) Binary force sensors 306(1) Temperature measurement 306(3) Pressure measurement 309(6) Problems 311(1) Further reading 312(1) Internet resources 312(3) Electrical actuator systems 315(40) Introduction 315(1) Moving-iron transducers 316(1) Solenoids 317(1) Relays 317(1) Electric motors 318(2) Direct current motors 320(19) Dynamic model and control of d.c. motors 339(6) The servo motor 345(1) The stepper motor 345(4) Motor selection 349(6) Problems 353(1) Further reading 354(1) Internet resources 354(1) Mechanical actuator systems 355(44) Hydraulic and pneumatic systems 355(8) Mechanical elements 363(3) Kinematic chains 366(3) Cam mechanisms 369(5) Gears 374(6) Ratchet mechanisms 380(1) Flexible mechanical elements 381(1) Friction clutches 382(6) Design of clutches 388(5) Brakes 393(6) Problems 397(1) Further reading 397(2) Interfacing microcontrollers with actuators 399(18) Introduction 399(1) Interfacing with general-purpose three-state transistors 400(2) Interfacing relays 402(1) Interfacing solenoids 403(2) Interfacing stepper motors 405(2) Interfacing permanent magnet motors 407(2) Interfacing sensors 409(3) Interfacing with a DAC 412(1) Interfacing power supplies 413(2) Interfacing with RS 232 and RS 485 415(1) Compatibility at an interface 415(2) Problems 415(1) Further reading 416(1) Control theory: modeling 417(32) Introduction 417(1) Modeling in the frequency domain 418(14) Modeling in the time domain 432(4) Converting a transfer function to state space 436(2) Converting a state-space representation to a transfer function 438(1) Block diagrams 438(11) Problems 446(2) Further reading 448(1) Internet resources 448(1) Control theory: analysis 449(54) Introduction 449(1) System response 449(2) Dynamic characteristics of a control system 451(1) Zero-order systems 452(1) First-order systems 452(3) Second-order systems 455(2) General second-order transfer function 457(14) Systems modeling and interdisciplinary analogies 471(3) Stability 474(2) The Routh-Hurwitz stability criterion 476(8) Steady-state errors 484(19) Problems 499(3) Further reading 502(1) Internet resources 502(1) Control theory: graphical techniques 503(28) Introduction 503(1) Root locus 503(10) Frequency response techniques 513(18) Further reading 528(1) Internet resources 529(2) Robotic systems 531(26) Types of robot 531(1) Robotic arm terminology 532(1) Robotic arm configuration 533(3) Robot applications 536(1) Basic robotic systems 537(8) Robotic manipulator kinematics 545(4) Robotic arm positioning concepts 549(2) Robotic arm path planning 551(3) Actuators 554(3) Problems 554(1) Further reading 555(2) Integrated circuit and printed circuit board manufacture 557(10) Integrated circuit fabrication 557(5) Printed circuit boards 562(5) Further reading 566(1) Reliability 567(22) The meaning of reliability 567(1) The life curve 568(1) Repairable and non-repairable systems 569(2) Failure or hazard rate models 571(2) Reliability systems 573(6) Response surface modeling 579(10) Problems 584(2) Further reading 586(1) Internet resources 587(2) Case studies 589(16) Introduction 589(1) Case study 1: A PC-based computer numerically controlled (CNC) drilling machine 589(5) Case study 2: A robotic arm 594(11) Problems 600(2) Further reading 602(1) Internet resources 603(2) Appendix 1 The engineering design process 605(4) A1.1 Establishment of need and goal recognition 605(1) A1.2 Specification 606(1) A1.3 System conception 606(1) A1.4 Detailed design 607(1) A1.5 Prototyping 607(1) A1.6 Testing 607(1) A1.7 Review and documentation 608(1) Appendix 2 Mechanical actuator systems design and analysis 609(28) A2.1 Introduction 609(1) A2.2 Helical springs 609(3) A2.3 Spur gears 612(3) A2.4 Rolling contact bearings 615(5) A2.5 Fatigue failure 620(6) A2.6 Shafts 626(1) A2.7 Power screws 627(3) A2.8 Flexible mechanical elements 630(7) Problems 633(2) Further reading 635(2) Appendix 3 CircuitMaker 2000 tutorial 637(4) A3.1 Drawing and editing tools 637(3) A3.2 Simulation modes 640(1) Index 641