Mechatronics -- Principles and Applications -- Mechatronics -- Principles and Applications -- Contents -- Preface -- Acknowledgments -- Chapter 1: Introduction to mechatronics -- 1.1 Historical perspective -- 1.2 Key elements of a mechatronic system -- 1.3 Some examples of mechatronic systems -- Further reading -- Problems -- Chapter 2: Electrical components and circuits -- 2.1 Introduction -- 2.2 Electrical components -- 2.3 Resistive circuits -- 2.4 Sinusoidal sources and complex impedance -- Problems -- Further reading -- Chapter 3: Semiconductor electronic devices -- 3.1 Introduction -- 3.2 Covalent bonds and doping materials -- 3.3 The p-n junction and the diode effect -- 3.4 The Zener diode -- 3.5 Power supplies -- 3.6 Active components -- Problems -- Further reading -- Chapter 4: Digital electronics -- 4.1 Introduction -- 4.2 Number systems -- 4.3 Combinational logic design using truth tables -- 4.4 Karnaugh maps and logic design -- 4.5 Combinational logic modules -- 4.6 Timing diagrams -- 4.7 Sequential logic components -- 4.8 Sequential logic design -- 4.9 Applications of flip-flops -- Problems -- Further reading -- Chapter 5: Analog electronics -- 5.1 Introduction -- 5.2 Amplifiers -- 5.3 The ideal operational amplifier model -- 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 -- Problems -- Further reading -- Chapter 6: Microcomputers and microcontrollers -- 6.1 Introduction -- 6.2 Microcontrollers -- 6.3 The PIC16F84 microcontroller -- 6.4 Programming a PIC using assembly language -- 6.5 Programming a PIC using C.

6.6 Interfacing common PIC peripherals: the PIC millennium board -- 6.7 The PIC16F877 microcontroller -- 6.8 Interfacing to the PIC -- 6.9 Communicating with the PIC during programming -- Problems -- Further reading -- Chapter 7: Data acquisition -- 7.1 Introduction -- 7.2 Sampling and aliasing -- 7.3 Quantization theory -- 7.4 Digital-to-analog conversion hardware -- 7.5 Analog-to-digital conversion hardware -- Problems -- Further reading -- Chapter 8: Sensors -- 8.1 Introduction -- 8.2 Distance sensors -- 8.3 Movement 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 -- Problems -- Further reading -- Internet resources -- Chapter 9: Electrical actuator systems -- 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 Dynamic model and control of d.c. motors -- 9.8 The servo motor -- 9.9 The stepper motor -- 9.10 Motor selection -- Problems -- Further reading -- Internet resources -- Chapter 10: Mechanical actuator systems -- 10.1 Hydraulic and pneumatic systems -- 10.2 Mechanical elements -- 10.3 Kinematic chains -- 10.4 Cam mechanisms -- 10.5 Gears -- 10.6 Ratchet mechanisms -- 10.7 Flexible mechanical elements -- 10.8 Friction clutches -- 10.9 Design of clutches -- 10.10 Brakes -- Problems -- Further reading -- 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 stepper 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 -- Problems -- Further reading -- 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 diagrams -- Problems -- Further reading -- Internet resources -- Chapter 13: Control theory: analysis -- 13.1 Introduction -- 13.2 System response -- 13.3 Dynamic characteristics of a control system -- 13.4 Zero-order systems -- 13.5 First-order systems -- 13.6 Second-order systems -- 13.7 General second-order transfer function -- 13.8 Systems modeling and interdisciplinary analogies -- 13.9 Stability -- 13.10 The Routh-Hurwitz stability criterion -- 13.11 Steady-state errors -- Problems -- Further reading -- Internet resources -- Chapter 14: Control theory: graphical techniques -- 14.1 Introduction -- 14.2 Root locus -- 14.3 Frequency response techniques -- Further reading -- Internet resources -- Chapter 15: Robotic systems -- 15.1 Types of robot -- 15.2 Robotic arm terminology -- 15.3 Robotic arm configuration -- 15.4 Robot applications -- 15.5 Basic robotic systems -- 15.6 Robotic manipulator kinematics -- 15.7 Robotic arm positioning concepts -- 15.8 Robotic arm path planning -- 15.9 Actuators -- Problems -- Further reading -- Chapter 16: Integrated circuit and printed circuit board manufacture -- 16.1 Integrated circuit fabrication -- 16.2 Printed circuit boards -- Further reading -- Chapter 17: Reliability -- 17.1 The meaning of reliability -- 17.2 The life curve -- 17.3 Repairable and non-repairable systems -- 17.4 Failure or hazard rate models -- 17.5 Reliability systems -- 17.6 Response surface modeling -- Problems -- Further reading -- Internet resources.

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 -- Problems -- Further reading -- Internet resources -- Appendix 1: The engineering design process -- A1.1 Establishment of need and goal recognition -- A1.2 Specification -- A1.3 System conception -- A1.4 Detailed design -- A1.5 Prototyping -- A1.6 Testing -- A1.7 Review and documentation -- Appendix 2: Mechanical actuator systems design and analysis -- A2.1 Introduction -- A2.2 Helical springs -- A2.3 Spur gears -- A2.4 Rolling contact bearings -- A2.5 Fatigue failure -- A2.6 Shafts -- A2.7 Power screws -- A2.8 Flexible mechanical elements -- Problems -- Further reading -- Appendix 3: CircuitMaker 2000 tutorial -- A3.1 Drawing and editing tools -- A3.2 Simulation modes -- Index.