Crc Press Mechatronics Handbook 2002 By Laxxuss Episode 1 Part 3 pps
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6
Mechatronics: New
Directions in Nano-,
Micro-, and Mini-Scale
Electromechanical
Systems Design, and
Engineering Curriculum
Development
6.1 Introduction
6.2 Nano-, Micro-, and Mini-Scale Electromechanical
Systems and Mechatronic Curriculum
6.3 Mechatronics and Modern Engineering
6.4 Design of Mechatronic Systems
6.5 Mechatronic System Components
6.6 Systems Synthesis, Mechatronics Software,
and Simulation
6.7 Mechatronic Curriculum
6.8 Introductory Mechatronic Course
6.9 Books in Mechatronics
6.10 Mechatronic Curriculum Developments
6.11 Conclusions: Mechatronics Perspectives
6.1 Introduction
Modern engineering encompasses diverse multidisciplinary areas. Therefore, there is a critical need to
identify new directions in research and engineering education addressing, pursuing, and implementing
new meaningful and pioneering research initiatives and designing the engineering curriculum. By
integrating various disciplines and tools, mechatronics provides multidisciplinary leadership and sup-
ports the current gradual changes in academia and industry. There is a strong need for an advanced
research in mechatronics and a curriculum reform for undergraduate and graduate programs. Recent
research developments and drastic technological advances in electromechanical motion devices, power
electronics, solid-state devices, microelectronics, micro- and nanoelectromechanical systems (MEMS
and NEMS), materials and packaging, computers, informatics, system intelligence, microprocessors and
Sergey Edward Lyshevski
Purdue University Indianapolis
©2002 CRC Press LLC
6
Mechatronics: New
Directions in Nano-,
Micro-, and Mini-Scale
Electromechanical
Systems Design, and
Engineering Curriculum
Development
6.1 Introduction
6.2 Nano-, Micro-, and Mini-Scale Electromechanical
Systems and Mechatronic Curriculum
6.3 Mechatronics and Modern Engineering
6.4 Design of Mechatronic Systems
6.5 Mechatronic System Components
6.6 Systems Synthesis, Mechatronics Software,
and Simulation
6.7 Mechatronic Curriculum
6.8 Introductory Mechatronic Course
6.9 Books in Mechatronics
6.10 Mechatronic Curriculum Developments
6.11 Conclusions: Mechatronics Perspectives
6.1 Introduction
Modern engineering encompasses diverse multidisciplinary areas. Therefore, there is a critical need to
identify new directions in research and engineering education addressing, pursuing, and implementing
new meaningful and pioneering research initiatives and designing the engineering curriculum. By
integrating various disciplines and tools, mechatronics provides multidisciplinary leadership and sup-
ports the current gradual changes in academia and industry. There is a strong need for an advanced
research in mechatronics and a curriculum reform for undergraduate and graduate programs. Recent
research developments and drastic technological advances in electromechanical motion devices, power
electronics, solid-state devices, microelectronics, micro- and nanoelectromechanical systems (MEMS
and NEMS), materials and packaging, computers, informatics, system intelligence, microprocessors and
Sergey Edward Lyshevski
Purdue University Indianapolis
©2002 CRC Press LLC
II
Physical System
Modeling
7 Modeling Electromechanical Systems
Francis C. Moon
Introduction • Models for Electromechanical Systems • Rigid Body Models •
Basic Equations of Dynamics of Rigid Bodies • Simple Dynamic Models • Elastic
System Modeling • Electromagnetic Forces • Dynamic Principles for Electric and
Magnetic Circuits • Earnshaw’s Theorem and Electromechanical Stability
8 Structures and Materials
Eniko T. Enikov
Fundamental Laws of Mechanics • Common Structures in Mechatronic Systems •
Vibration and Modal Analysis • Buckling Analysis • Transducers • Future Trends
9 Modeling of Mechanical Systems for Mechatronics Applications
Raul G. Longoria
Introduction • Mechanical System Modeling in Mechatronic Systems • Descriptions
of Basic Mechanical Model Components • Physical Laws for Model Formulation • Energy
Methods for Mechanical System Model Formulation • Rigid Body Multidimensional
Dynamics • Lagrange’s Equations
10 Fluid Power Systems
Qin Zhang and Carroll E. Goering
Introduction • Hydraulic Fluids • Hydraulic Control Valves • Hydraulic Pumps •
Hydraulic Cylinders • Fluid Power Systems Control • Programmable
Electrohydraulic Valves
11 Electrical Engineering
Giorgio Rizzoni
Introduction • Fundamentals of Electric Circuits • Resistive Network Analysis •
AC Network Analysis
12 Engineering Thermodynamics
Michael J. Moran
Fundamentals • Extensive Property Balances • Property Relations and Data • Vapor
and Gas Power Cycles
©2002 CRC Press LLC
to use these generalized motions {
q
k
:
k
=
1,…,
K
} to describe the dynamics. It is sometimes useful to
define a vector or matrix,
J
(
q
k
), called a
Jacobian
, that relates velocities of physical points in the machine
to the generalized velocities . If the position vector to some point in the machine is
r
P
(
q
k
) and is
determined by geometric constraints indicated by the functional dependence on the {
q
k
(
t
)}, then the
velocity of that point is given by
(7.2)
where the sum is on the number of generalized degrees of freedom
K
. The three-by-
K
matrix
J
is called
a
Jacobian
and is a
K
×
1 vector of generalized coordinates. This expression can be used to calculate
FIGURE 7.1
Sketch of a rigid body with position vector, velocity, and angular velocity vectors.
FIGURE 7.2
Multiple link robot manipulator arm.
q
˙
k
{}
v
P
∂ r
P
∂q
r
q
r
˙
∑
Jq
˙
⋅==
q
˙
0066_Frame_C07 Page 3 Wednesday, January 9, 2002 3:39 PM
©2002 CRC Press LLC
