Progettazione Meccatronica

Automazione Avanzata per i Costruttori di Macchine Tecniche di Progettazione Meccatronica per ridurre i costi di sviluppo Con il patrocinio di:

e con la partecipazione dell’Università di Udine

Topics • Mechatronics approach • Integrated environment • Mechatronics Toolkit (by LabVIEW) • Two simple examples

WHAT IS MECHATRONICS?

The definition of mechatronics has evolved since the original definition by the Yaskawa Electric Company The . word, Mechatronics, is composed of ‘mecha’ from mechanism and the ‘tronics’ from electronics. In other words, technologies and developed products will be incorporating electronics more and more into mechanisms, intimately and organically, and making it impossible to tell where one ends and the other begins

Mechatronics is a natural stage in the evolutionary process of modern engineering design

The definition of mechatronics continued to evolve after Yaskawa suggested the original definition. One often quoted definition of mechatronics was presented by Harashima, Tomizuka, and Fukuda in 1996.

the synergistic integration of mechanical engineering, with electronics and intelligent computer control in the design and manufacturing of industrial products and processes.

Machine Design

Traditional Approach: Design Requirements to Mechanical Concept Design Requirements

Mechanical Conceptual Design

• • • • •

Milling aluminum Up to 10 by 15 cm 3 parts per minute 5 µm Light curtains, emergency stop • <$50,000

3D CAD Model

Traditional Approach to Electromechanical Machine Design

System Specification

Prototype Validation, Optimization

Mechanical Design

Electrical Design

Manufacturing Test System Design

Embedded Hardware Design

Manufacturing

..sequential approach

Embedded Software Design

Support & Service

Control Design

Sustaining Engineering

Mechatronics Approach to Machine Design Mechanical Design

Physical Prototype

Electrical Design System Specification

Embedded HW/SW CoDesign

Control Design

Virtual Prototype (Simulation)

Manufacturing Manufacturing Test System Design

Support & Service

..concurrent approach Virtual Prototype Validation

Sustaining Engineering

Mechatronics Approach: Concurrent Development (Design Tool Integration) Mechanical Design Electrical Design Control Design Embedded Design

Virtual Prototype (Simulation)

Open Connectivity to Design Tools Mathematics NI LabVIEW Math The MathWorks, Inc. MATLAB® Maplesoft Maple MathSoft Mathcad

Embedded Software NI LabVIEW Real-Time/Embedded Wind River Workbench Analog Devices VisualDSP++ Freescale Code Warrior Xilinx System Generator

Electrical Design NI LabVIEW (Motor Sizing) NI Multisim ORCAD PSpice Ansoft Designer

Virtual Prototyping Platform

Control Design NI LabVIEW Control Design The MathWorks, Inc. Simulink® Dynasim Dymola Plexim PLECS

Mechanical Design SolidWorks SolidWorks PTC Pro/Engineer MSC Nastran and Adams Autodesk AutoCAD

MATLAB® and Simulink® are registered trademarks of The MathWorks, Inc.

Mechatronic Approach

Software Tools • The toolkit is designed to enable virtual machine prototyping; the use of electromechanical simulation and design validation techniques to help you lower the cost and risk of designing machines with electronic control systems and motor drive actuators. • If you have a SolidWorks 3D CAD model, you could be simulating the mechanical and electrical performance of your machine in minutes.

SolidWorks – LabVIEW Interface Functions

NI LabVIEW-SolidWorks Mechatronics Toolkit (Alpha version 01) •Motion trajectory design •Visualization •Collision detection •Throughput time studies •Motor, drive and transmission sizing

Case studies

LANS – A special robot for NeuroSurgery (Universities of Padova, Udine and Florence) MODUS – A simple mechatronic system for gates automation (by KING Gates ®)

Example 1: Surgical Robot Path Plannig

non-spherical shape tumor axis multiple target multiple target

19

20

Mechatronics Toolkit Physical System

Virtual Prototype

• Trajectory Data • Collision Data

Surgical Robot Path Plannig LabView and SolidWorks can help both the generation and the validation of the suitable trajectory for the surgical tool Path Planning with constraints <---> MotionAssistant (LabVIEW toolkit) Path Validation ßàCosmosMotion (by SolidWorks)

• Example 2: Industrial Application

TARGET: Design a new actuator for gates and doors automation

Traditional Approach Kinematic Analysis Dynamic Analysis C

y

th

x O

Joints Forces

B

q

z1 C

z5

y

A

Links optimization

z2 z5

x O

th

Motor sizing

B

q

C y

z3

z4 th

x O

A

B

q

A

Links and joints design

Kinematic Analysis

Dynamic Analysis

C y

O

Mechanical tests

th

x B

q

z1

Joints Forces

Electronic devices

z5 A

C z2

y

Electrical tests

z5 th

x O

B

q

z3

Firmware

z4 C

y th

x

A

O

B

q

A

Software tests

• Acceleration and Velocity Vectors • Kinetic Energy* • Collision Data • Friction Values*

Physical Prototype

Mechatronics Toolkit

Hardware in the Loop

Virtual Prototype

• Trajectory Data • External Forces* • Model Parameters*

the synergistic integration of mechanical engineering, with electronics and intelligent computer control in the design and manufacturing of industrial products and processes.