J. Paulo Davim 
Mechatronics 

The term Mechatronics is a combination of the words
‘mechanics’ and ‘electronics’. It is the
blending of mechanical, electronic, and computer engineering into
an integrated design and implementation. Mechatronics systems
employ microprocessors and software as well as special-purpose
electronics.

The main objective of this interdisciplinary engineering field is
the study of automated devices (e.g. robots) from an engineering
perspective, thinking about the design of products and
manufacturing processes. Today, mechatronics is having a
significant and increasing impact on engineering – in the design,
development, and operation of engineering systems. Mechatronics
systems and products are well established in a great number of
industries, such as the aircraft, automotive, computer,
electronics, robotics/automation, manufacturing systems,
computerized machine tools, communications, and biomedical
industries.

This book provides details on recent advances in mechatronics, and
can be used as a guidebook for final undergraduate engineering
courses (for example, mechanical, electronic, computer engineering)
or as a reference to the subject of mechatronics at the
postgraduate level. It can also serve as a useful reference for
academics, mechatronics researchers, mechanical, electronic and
computer engineers, and professionals in areas related to
mechatronics and robotics.

Зміст

Preface xi

Chapter 1. Mechatronics Systems Based on CAD/CAM 1

Fusaomi NAGATA, Yukihiro KUSUMOTO, Keigo WATANABE and Maki K.
HABIB

1.1. Introduction 1

1.2. Five-axis NC machine tool with a tilting head 1

1.3. Three-axis NC machine tool with a rotary unit 4

1.4. Articulated-type industrial robot 8

1.5. Desktop Cartesian-type robot 21

1.6. Conclusions 26

1.7. Bibliography 27

Chapter 2. Modeling and Control of Ionic Polymer-Metal
Composite Actuators for Mechatronics Applications 29

Andrew MCDAID, Kean AW and Sheng Q XIE

2.1. Introduction 29

2.2. Electromechanical IPMC model 33

2.3. IPMC stepper motor 44

2.4. Robotic rotary joint 49

2.5. Discussions 63

2.6. Concluding remarks 63

2.7. Bibliography 64

Chapter 3. Modeling and Simulation of Analog Angular Sensors
for Manufacturing Purposes 69

Joao FIGUEIREDO

3.1. Introduction 69

3.2. Pancake resolver model 73

3.3. Simulation and experimental results 94

3.4. Conclusions 99

3.5. Acknowledgment 99

3.6. Bibliography 99

Chapter 4. Robust Control of Atomic Force Microscopy
103

Bilin AKSUN GUVENC, Serkan NEC_PO_LU, Burak DEM_REL and Levent
GUVENC

4.1. Introduction 103

4.2. Repetitive control of the vertical direction motion 104

4.3. MIMO disturbance observer control of the lateral directions
117

4.4. Concluding remarks 128

4.5. Acknowledgments 129

4.6. Bibliography 130

Chapter 5. Automated Identification 133

Hiroo WAKAUMI

5.1. Introduction 133

5.2. Serial binary barcode 134

5.3. Two-dimensional binary barcode 140

5.4. Ternary barcode 149

5.5. RFID 160

5.6. Application examples 163

5.7. Concluding remarks 164

5.8. Acknowledgments 164

5.9. Bibliography 165

Chapter 6. An Active Orthosis for Gait Rehabilitation
169

Shahid HUSSAIN and Sheng Q. XIE

6.1. Introduction 169

6.2. Compliant active orthosis design 178

6.3. Modeling 182

6.4. Control 184

6.5. Simulation results 187

6.6. Conclusions 189

6.7. Acknowledgment 189

6.8. Bibliography 190

Chapter 7. Intelligent Assistive Knee Exoskeleton
195

Mervin CHANDRAPAL, Xiaoqi CHEN and Wenhui WANG

7.1. Introduction 195

7.2. Overview of knee exoskeleton system 202

7.3. Modeling and control of pneumatic artificial muscle (PAM)
205

7.4. Modeling of high-speed on/off solenoid valve 211

7.5. Self-organizing fuzzy control 214

7.6. Surface electromyography 224

7.7. Hardware implementation 229

7.8. Concluding remarks 231

7.9. Acknowledgment 232

7.10. Bibliography 232

List of Authors 239

Index 241

Про автора

J. Paulo Davim is Aggregate Professor in the Department of Mechanical Engineering at the University of Aveiro, Portugal and is Head of MACTRIB (Machining and Tribology Research Group). His main research interests include manufacturing, materials and mechanical engineering.