Mechatronics

The term Mechatronics is a combination of the words mechanics and electronics . It is the blending of mechanical, electronic, and computer engineering into an integrated design and implementation. Mechatronics systems employ microprocessors and software as well as special-purpose electronics. The main objective of this interdisciplinary engineering field is the study of automated devices (e.g. robots) from an engineering perspective, thinking about the design of products and manufacturing processes. Today, mechatronics is having a significant and increasing impact on engineering - in the design, development, and operation of engineering systems. Mechatronics systems and products are well established in a great number of industries, such as the aircraft, automotive, computer, electronics, robotics/automation, manufacturing systems, computerized machine tools, communications, and biomedical industries. This book provides details on recent advances in mechatronics, and can be used as a guidebook for final undergraduate engineering courses (for example, mechanical, electronic, computer engineering) or as a reference to the subject of mechatronics at the postgraduate level. It can also serve as a useful reference for academics, mechatronics researchers, mechanical, electronic and computer engineers, and professionals in areas related to mechatronics and robotics.

The term Mechatronics is a combination of the words"mechanics" and "electronics". It is theblending of mechanical, electronic, and computer engineering intoan integrated design and implementation. Mechatronics systemsemploy microprocessors and software as well as special-purposeelectronics.The main objective of this interdisciplinary engineering field isthe study of automated devices (e.g. robots) from an engineeringperspective, thinking about the design of products andmanufacturing processes. Today, mechatronics is having asignificant and increasing impact on engineering - in the designdevelopment, and operation of engineering systems. Mechatronicssystems and products are well established in a great number ofindustries, such as the aircraft, automotive, computerelectronics, robotics/automation, manufacturing systemscomputerized machine tools, communications, and biomedicalindustries.This book provides details on recent advances in mechatronics, andcan be used as a guidebook for final undergraduate engineeringcourses (for example, mechanical, electronic, computer engineering)or as a reference to the subject of mechatronics at thepostgraduate level. It can also serve as a useful reference foracademics, mechatronics researchers, mechanical, electronic andcomputer engineers, and professionals in areas related tomechatronics and robotics.

Preface xiChapter 1. Mechatronics Systems Based on CAD/CAM 1Fusaomi NAGATA, Yukihiro KUSUMOTO, Keigo WATANABE and Maki K.HABIB1.1. Introduction 11.2. Five-axis NC machine tool with a tilting head 11.3. Three-axis NC machine tool with a rotary unit 41.4. Articulated-type industrial robot 81.5. Desktop Cartesian-type robot 211.6. Conclusions 261.7. Bibliography 27Chapter 2. Modeling and Control of Ionic Polymer-MetalComposite Actuators for Mechatronics Applications 29Andrew MCDAID, Kean AW and Sheng Q XIE2.1. Introduction 292.2. Electromechanical IPMC model 332.3. IPMC stepper motor 442.4. Robotic rotary joint 492.5. Discussions 632.6. Concluding remarks 632.7. Bibliography 64Chapter 3. Modeling and Simulation of Analog Angular Sensorsfor Manufacturing Purposes 69Joao FIGUEIREDO3.1. Introduction 693.2. Pancake resolver model 733.3. Simulation and experimental results 943.4. Conclusions 993.5. Acknowledgment 993.6. Bibliography 99Chapter 4. Robust Control of Atomic Force Microscopy103Bilin AKSUN GUVENC, Serkan NEC_PO_LU, Burak DEM_REL and LeventGUVENC4.1. Introduction 1034.2. Repetitive control of the vertical direction motion 1044.3. MIMO disturbance observer control of the lateral directions1174.4. Concluding remarks 1284.5. Acknowledgments 1294.6. Bibliography 130Chapter 5. Automated Identification 133Hiroo WAKAUMI5.1. Introduction 1335.2. Serial binary barcode 1345.3. Two-dimensional binary barcode 1405.4. Ternary barcode 1495.5. RFID 1605.6. Application examples 1635.7. Concluding remarks 1645.8. Acknowledgments 1645.9. Bibliography 165Chapter 6. An Active Orthosis for Gait Rehabilitation169Shahid HUSSAIN and Sheng Q. XIE6.1. Introduction 1696.2. Compliant active orthosis design 1786.3. Modeling 1826.4. Control 1846.5. Simulation results 1876.6. Conclusions 1896.7. Acknowledgment 1896.8. Bibliography 190Chapter 7. Intelligent Assistive Knee Exoskeleton195Mervin CHANDRAPAL, Xiaoqi CHEN and Wenhui WANG7.1. Introduction 1957.2. Overview of knee exoskeleton system 2027.3. Modeling and control of pneumatic artificial muscle (PAM)2057.4. Modeling of high-speed on/off solenoid valve 2117.5. Self-organizing fuzzy control 2147.6. Surface electromyography 2247.7. Hardware implementation 2297.8. Concluding remarks 2317.9. Acknowledgment 2327.10. Bibliography 232List of Authors 239Index 241