Mechatronics : An Integrated Approach

Table of MECHATRONIC ENGINEERING Mechatronic Systems Study of Mechatronics References and Further Reading DYNAMIC MODELS AND ANALOGIES Terminology Analogies State-Space Representation Model Linearization Linear Graphs State Models From Linear Graphs Electrical Systems Fluid Systems Thermal Systems Bond Graphs Transfer-Function Models Frequency Domain Models Response Analysis And Simulation MECHANICAL COMPONENTS AND ROBOTIC MANIPULATORS Mechanical Components Transmission Components Robotic Manipulators Robotic Grippers COMPONENT INTERCONNECTION AND SIGNAL CONDITIONING Component Interconnection Impedance Characteristics Amplifiers Analog Filters Modulators and Demodulators Analog-Digital Conversion Bridge Circuits Linearizing Devices Miscellaneous Signal Modification Circuitry Signal Analyzers And Display Devices PERFORMANCE SPECIFICATION AND ANALYSIS Parameters For Performance Specification Linearity Instrument Ratings Bandwidth Design Instrument Error Analysis Statistical Process Control ANALOG SENSORS AND TRANSDUCERS Terminology Motion Transducers Variable-Inductance Transducers Permanent-Magnet Transducers Variable-Capacitance Transducers Piezoelectric Sensors Effort Sensors Strain Gages Torque Sensors Tactile Sensing Gyroscopic Sensors Optical Sensors and Lasers Ultrasonic Sensors Thermo-Fluid Sensors Other Types of Sensors DIGITAL TRANSDUCERS Advantages Of Digital Transducers Shaft Encoders Incremental Optical Encoders Absolute Optical Encoders Encoder Error Miscellaneous Digital Transducers STEPPER MOTORS Principle of Operation Stepper Motor Classification Driver And Controller Torque Motion Characteristics Damping of Stepper Motors Stepping Motor Models Control of Stepper Motors Stepper Motor Selection and Applications CONTINUOUS-DRIVE ACTUATORS DC Motors DC Motor Equations Control of DC Motors Motor Driver DC Motor Selection Induction Motors Induction Motor Control Synchronous Motors Linear Actuators Hydraulic Actuators Hydraulic Control Systems Fluidics DIGITAL LOGIC AND HARDWARE Number Systems and Codes Logic and Boolean Algebra Combinational Logic Circuits Sequential Logic Devices MICROPROCESSORS AND PLCS Digital Computer Programmable Logic Controllers Data Acquisition And Control CONTROL SYSTEMS Control Engineering Control System Performance Control Schemes Stability and Routh-Hurwitz Criterion Root Locus Method Frequency Domain Analysis Controller Design and Tuning Compensator Design in the Frequency Domain Controller Tuning Design Using Root Locus Digital Control CASE STUDIES IN MECHATRONICS Design of a Mechatronic System Robotics Case Study Iron Butcher Case Study Projects Appendix A. Transform Techniques Laplace Transform Response Analysis Transfer Function Fourier Transform The S-Plane Appendix B. Software Tools SIMULINKO STATEFLOW MATLABO Control Systems Toolbox LabVIEWO Index