MECHATRONICS CHAPTER 1: Introduction to Metronics 1.1 Historical perspective 1.2 Key elements of a mechatronic system 1.3 Some examples of mechatronic system CHAPTER 2: Electrical Components and Circuits 2.1 Introduction 2.2 Electrical components 2.3 Resistive circuit 2.4 Sinusoidal source and complex impedance CHAPTER 3: Semiconductor Electronics Device 3.1 Introduction 3.2 Covalent bonds and doping material 3.3 The p-n junction and the diode effects 3.4 The Zanier diode 3.5 Power supplies 3.6 Active components CHAPTER 4: Digital Electronics 4.1 Introduction 4.2 Number system 4.3 Combinational logic design using truth tablets 4.4 Karnaugh map sand logic designs 4.5 Combinational logic modules 4.6 Timing Diagrams 4.7 Sequential logic design 4.8 Sequential logic components 4.9 Applications of flip-flops CHAPTER 5: Analog Electronics 5.1 Introduction 5.2 Amplifiers 5.3 The idea operational amplifiers models 5.4 The inverting amplifier 5.5 The non-inverting amplifier 5.6 The unity-gain buffer 5.7 The summing amplifier 5.8 The difference amplifier 5.9 The instrumentation amplifier 5.10 The integrator amplifier 5.11 The differentiator amplifier 5.12 The comparator 5.13 The sample and hold amplifier 5.14 Active filters CHAPTER 6: Microcomputers and Microcontrollers 6.1 Introduction 6.2 Microcontroller 6.3The PICI6F84 microcontroller 6.4Programming a PIC using assembly language 6.5 Programmer a PIC using C 6.6 Interfacing common PIC peripheries: the PIC Millennium board 6.7 The PIC16F877 microcontroller 6.8 Interfacing to the PIC 6.9 Communicating with the PIC during programming CHAPTER 7: Data Acquisition 7.1 Introduction 7.2 Sampling and aliasing 7.3 Quantization theory 7.4 Digital-to-analog conversation hardware 7.5 Analog-to-digital conversation hardware CHAPTER 8: Sensors 8.1 Introduction 8.2 Distance sensors 8.3 Movements sensors 8.4 Proximity sensors 8.5 Electrical strain and stress measurement 8.6 Force measurement 8.7 Time of flight sensors 8.8 Binary force sensors 8.9 Temperature measurement 8.10 Pressure measurement Chapter 9: Electrical actuator system 9.1 Introduction 9.2 Moving-iron transducers 9.3 Solenoids 9.4 Relays 9.5 Electric motors 9.6 Direct current motors 9.7 Dynamics model and control of d.c. motors 9.8 The Servo motors 9.9 The steppers motors 9.10 Motors selection CHAPTER: 10 Mechanical actuator systems 10.1 Hydraulic and pneumatic system 10.2 Mechanical elements 10.3 Kinematic elements 10.4 Cam mechanics 10.5 Gears 10.6 Ratchet mechanics 10.7 Flexible mechanical elements 10.8 Friction clutches 10.9 Design of cloches 10.10 Brakes CHAPTER: 11 Interfacing Microcontrollers with Actuators 11.1 Introduction 11.2 Interfacing with general-purpose three-state transistors 11.3 Interfacing relays 11.4 Interfacing solenoids 11.5 Interfacing steppers motors 11.6 Interfacing permanent magnet motors 11.7 Interfacing sensors 11.8 Interfacing with a DAC 11.9 Interfacing power supplies 11.10 Interfacing with RS 232 and RS 485 11.11 Compatibility at an interface CHAPTER: 12 Control Theory: Modeling 12.1 Introduction 12.2 Modeling in the frequency domain 12.3 Modeling in the time domain 12.4 Converting a transfer function to state space 12.5 Converting a state-space representation to a transfer function 12.6 Block diagram CHAPTER: 13 Control Theories: Analysis 13.1 Introduction 13.2 System response 13.3 Dynamic characteristics of a control system 13.4 Zero-order system 13.5 First-order system 13.6 Second-order system 13.7 General second-order transfer function 13.8 System modeling and interdisciplinary analogies 13.9 Stability 13.10 The Routh-Hurwitz stability criterion 13.11 Steady-state errors CHAPTER: 14 Control Theories: Graphical Techniques 14.1 Introduction 14.2 Roots locus 14.3 Frequency response techniques CHAPTER: 15 Robotic Systems 15.1 Types of robot 15.2 Robotic arm terminal 15.3 Robotic arm configuration 15.4 Robot application 15.5 Basic robotic system 15.6 Robotic manipulator kinematics 15.7 Robotic arm positioning concepts 15.8 Robotic arm path planning 15.9 Actuators CHAPTER: 16 Integrated Circuit and Printed Circuit Board Manufacture 16.1 Integrated circuit fabrication 16.1 Printed circuit board CHAPTER:17 Reliability 17.1 The meaning of reliability 17.2 The life curve 17.3 Repairable and non-repairable system 17.4 Failure or hazard rate models 17.5 Reliability system 17.6 Response surface modeling CHAPTER: 18 Case Studies 18.1 Introduction 18.2 Case study 1: A PC-based computer numerically Controlled (CNC) drilling machine 18.3 Case study 2: A robotic arm
MECHATRONICS
CHAPTER 1: Introduction to Metronics
1.1 Historical perspective
1.2 Key elements of a mechatronic system
1.3 Some examples of mechatronic system
CHAPTER 2: Electrical Components and Circuits
2.1 Introduction
2.2 Electrical components
2.3 Resistive circuit
2.4 Sinusoidal source and complex impedance
CHAPTER 3: Semiconductor Electronics Device
3.1 Introduction
3.2 Covalent bonds and doping material
3.3 The p-n junction and the diode effects
3.4 The Zanier diode
3.5 Power supplies
3.6 Active components
CHAPTER 4: Digital Electronics
4.1 Introduction
4.2 Number system
4.3 Combinational logic design using truth tablets
4.4 Karnaugh map sand logic designs
4.5 Combinational logic modules
4.6 Timing Diagrams
4.7 Sequential logic design
4.8 Sequential logic components
4.9 Applications of flip-flops
CHAPTER 5: Analog Electronics
5.1 Introduction
5.2 Amplifiers
5.3 The idea operational amplifiers models
5.4 The inverting amplifier
5.5 The non-inverting amplifier
5.6 The unity-gain buffer
5.7 The summing amplifier
5.8 The difference amplifier
5.9 The instrumentation amplifier
5.10 The integrator amplifier
5.11 The differentiator amplifier
5.12 The comparator
5.13 The sample and hold amplifier
5.14 Active filters
CHAPTER 6: Microcomputers and Microcontrollers
6.1 Introduction
6.2 Microcontroller
6.3The PICI6F84 microcontroller
6.4Programming a PIC using assembly language
6.5 Programmer a PIC using C
6.6 Interfacing common PIC peripheries: the PIC Millennium board
6.7 The PIC16F877 microcontroller
6.8 Interfacing to the PIC
6.9 Communicating with the PIC during programming
CHAPTER 7: Data Acquisition
7.1 Introduction
7.2 Sampling and aliasing
7.3 Quantization theory
7.4 Digital-to-analog conversation hardware
7.5 Analog-to-digital conversation hardware
CHAPTER 8: Sensors
8.1 Introduction
8.2 Distance sensors
8.3 Movements sensors
8.4 Proximity sensors
8.5 Electrical strain and stress measurement
8.6 Force measurement
8.7 Time of flight sensors
8.8 Binary force sensors
8.9 Temperature measurement
8.10 Pressure measurement
Chapter 9: Electrical actuator system
9.1 Introduction
9.2 Moving-iron transducers
9.3 Solenoids
9.4 Relays
9.5 Electric motors
9.6 Direct current motors
9.7 Dynamics model and control of d.c. motors
9.8 The Servo motors
9.9 The steppers motors
9.10 Motors selection
CHAPTER: 10 Mechanical actuator systems
10.1 Hydraulic and pneumatic system
10.2 Mechanical elements
10.3 Kinematic elements
10.4 Cam mechanics
10.5 Gears
10.6 Ratchet mechanics
10.7 Flexible mechanical elements
10.8 Friction clutches
10.9 Design of cloches
10.10 Brakes
CHAPTER: 11 Interfacing Microcontrollers with Actuators
11.1 Introduction
11.2 Interfacing with general-purpose three-state transistors
11.3 Interfacing relays
11.4 Interfacing solenoids
11.5 Interfacing steppers motors
11.6 Interfacing permanent magnet motors
11.7 Interfacing sensors
11.8 Interfacing with a DAC
11.9 Interfacing power supplies
11.10 Interfacing with RS 232 and RS 485
11.11 Compatibility at an interface
CHAPTER: 12 Control Theory: Modeling
12.1 Introduction
12.2 Modeling in the frequency domain
12.3 Modeling in the time domain
12.4 Converting a transfer function to state space
12.5 Converting a state-space representation to a transfer function
12.6 Block diagram
CHAPTER: 13 Control Theories: Analysis
13.1 Introduction
13.2 System response
13.3 Dynamic characteristics of a control system
13.4 Zero-order system
13.5 First-order system
13.6 Second-order system
13.7 General second-order transfer function
13.8 System modeling and interdisciplinary analogies
13.9 Stability
13.10 The Routh-Hurwitz stability criterion
13.11 Steady-state errors
CHAPTER: 14 Control Theories: Graphical Techniques
14.1 Introduction
14.2 Roots locus
14.3 Frequency response techniques
CHAPTER: 15 Robotic Systems
15.1 Types of robot
15.2 Robotic arm terminal
15.3 Robotic arm configuration
15.4 Robot application
15.5 Basic robotic system
15.6 Robotic manipulator kinematics
15.7 Robotic arm positioning concepts
15.8 Robotic arm path planning
15.9 Actuators
CHAPTER: 16 Integrated Circuit and Printed Circuit Board Manufacture
16.1 Integrated circuit fabrication
16.1 Printed circuit board
CHAPTER:17 Reliability
17.1 The meaning of reliability
17.2 The life curve
17.3 Repairable and non-repairable system
17.4 Failure or hazard rate models
17.5 Reliability system
17.6 Response surface modeling
CHAPTER: 18 Case Studies
18.1 Introduction
18.2 Case study 1: A PC-based computer numerically
Controlled (CNC) drilling machine
18.3 Case study 2: A robotic arm
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