Essentials of Mechatronics ISBN: 0-471-72341-X- ©John Billingsley 2006 - published John Wiley & Sons, Inc

Table of Contents - with links to web demonstrations and simulation examples

John Wiley & Sons, Inc website with links to publishing details

John Billingsley's home page at the University of Southern Queensland

Errata - corrections to errors in the text and software improvements

With an abundant wealth of topics to choose from, authors of mechatronics textbooks are tempted to bundle them all into a massive compendium. This book seeks to throw out all but the essentials, though perhaps in hanging onto the baby, some bathwater will still remain.

There are a hundred ways of achieving all but the simplest of mechatronic design tasks. At every step, choice and compromise will be involved. Should a precision motor be used or will a simple sensor and a sprinkle of feedback allow something cheaper and easier to do the trick? What does the end-user ask for, really want, actually need – or eventually buy?

Specialists can handle the fine detail, the composition of the molded plastic, the choice of components for the electronic interface, machining drawings, embedded computer or software development platform. At the top of the pyramid, however, there must be a mechatronic designer capable of making the design trade-offs that will transform a client’s demands or a bright idea into a successful commercial product.

In some ways, mechatronics is as much a philosophy as a science. At its heart is a way of looking at tasks that will if necessary achieve their object by ducking aside into an alternative technology. The mechatronic engineer knows where to look for the side-roads and has a shrewd idea of the merits of the diversion.

Chapter 1 - Introduction

1.1 A personal view.

1.2. What is and is not mechatronics.

Chapter 2. The bare essentials

2.1 Actuators

2.2 Sensors

2.3 Sensors for vision

2.4 The computer

2.5 Interface electronics for output

2.6 Interface electronics for output

2.7 Pragmatic control

2.8 Robotics and kinematics

Chapter 3. Gaining experience

3.1 Getting to grips with QBasic

3.2 The simplest mobile robot

3.3 Ball and beam

3.4 'Professional' position control

3.5 An inverted pendulum

Chapter 4. Introduction to the next level

4.1 The www.EssMech.com web site

Chapter 5. Electronic design

5.1 The rudiments of circuit theory

5.2 The operational amplifier

5.3 Filters for sensors

5.4 Logic and latches

Chapter 6. Essential control theory

6.1 State variables

6.2 Simulation

6.3 Solving the first-order equation

6.4 Second order problems

6.5 Modeling position control

6.6 Matrix state equations

6.7 Analogue simulation

6.8 More formal computer simulation

Chapter 7. Vectors, matrices and tensors

7.1 Meet the matrix

7.2 More on vectors

7.3 Matrix multiplication

7.4 Transposition of matrices

7.5 The unit matrix

7.6 Coordinate transformations

7.7 Matrices, notation and computing

7.8 Eigenvectors

Chapter 8. Mathematics for control

8.1 Differential equations

8.2 The Laplace transform

8.3 Difference equations

8.4 The z-transform

8.5 Correlation and convolution

Chapter 9. Robotics, Dynamics and Kinematics

9.1 Gears, motors and mechanisms

9.2 Three dimensional motion

9.3 Kinematic Chains

9.4 Robot dynamics

9.5 Simulating a robot

Chapter 10. Further control theory

10.1 Control topology and non-linear systems

10.2 Phase-plane methods

10.3 Optimisation

Chapter 11. Computer implementation

11.1 Essentials of computing

11.2 Software implications

11.3 Embedded processors

Chapter 12. Machine vision

12.1 Vision sensors

12.2 Acquiring an image

12.3 Analyzing an image

Chapter 13. Case studies

13.1 Robocow - a mobile robot for training horses

13.2 Vision guidance for tractors

13.3 A shape recognition example

Chapter 14. The human element

14.1 The user interface

14.2 If all else fails, read the instructions

14.3 It just takes imagination

1.1 A personal view.

1.2. What is and is not mechatronics.

Chapter 2. The bare essentials

2.1 Actuators

2.2 Sensors

2.3 Sensors for vision

2.4 The computer

2.5 Interface electronics for output

2.6 Interface electronics for output

2.7 Pragmatic control

2.8 Robotics and kinematics

Chapter 3. Gaining experience

3.1 Getting to grips with QBasic

3.2 The simplest mobile robot

3.3 Ball and beam

3.4 'Professional' position control

3.5 An inverted pendulum

Chapter 4. Introduction to the next level

4.1 The www.EssMech.com web site

Chapter 5. Electronic design

5.1 The rudiments of circuit theory

5.2 The operational amplifier

5.3 Filters for sensors

5.4 Logic and latches

Chapter 6. Essential control theory

6.1 State variables

6.2 Simulation

6.3 Solving the first-order equation

6.4 Second order problems

6.5 Modeling position control

6.6 Matrix state equations

6.7 Analogue simulation

6.8 More formal computer simulation

Chapter 7. Vectors, matrices and tensors

7.1 Meet the matrix

7.2 More on vectors

7.3 Matrix multiplication

7.4 Transposition of matrices

7.5 The unit matrix

7.6 Coordinate transformations

7.7 Matrices, notation and computing

7.8 Eigenvectors

Chapter 8. Mathematics for control

8.1 Differential equations

8.2 The Laplace transform

8.3 Difference equations

8.4 The z-transform

8.5 Correlation and convolution

Chapter 9. Robotics, Dynamics and Kinematics

9.1 Gears, motors and mechanisms

9.2 Three dimensional motion

9.3 Kinematic Chains

9.4 Robot dynamics

9.5 Simulating a robot

Chapter 10. Further control theory

10.1 Control topology and non-linear systems

10.2 Phase-plane methods

10.3 Optimisation

Chapter 11. Computer implementation

11.1 Essentials of computing

11.2 Software implications

11.3 Embedded processors

Chapter 12. Machine vision

12.1 Vision sensors

12.2 Acquiring an image

12.3 Analyzing an image

Chapter 13. Case studies

13.1 Robocow - a mobile robot for training horses

13.2 Vision guidance for tractors

13.3 A shape recognition example

Chapter 14. The human element

14.1 The user interface

14.2 If all else fails, read the instructions

14.3 It just takes imagination

An email address is printed on the last page of the book.

I would be delighted to receive comments, suggestions, questions and pointers to any errors that I have overlooked.

Please put EssMech in the subject line.

5.3.5 A single chip ADC.

A corrected version of the code shown on p.109 is here. As printed, a reduced range of central voltages are converted. The new code gives correct conversion over the full range.

9.3.1 Chains of axes.

On pages 175 and 176, a number of matrices show the individual transformations associated with the Unimation Puma. The bottom right coefficient in each case should be 1, not zero as shown in the third, fifth and seventh matrices.

With warm thanks to the University of Southern Queensland, Australia, for hosting this web site.

Essentials of Mechatronics

John Billingsley

ISBN: 0-471-72341-X

Hardcover, 264 pages

Pub. May 2006