Instrumentation and Automation of Mechatronic

Cortez Italo Jose et al. Int. Journal of Engineering Research and Applications www.ijera.com
ISSN: 2248-9622, Vol. 5, Issue 12, (Part - 4) December 2015, pp.48-52
www.ijera.com 48 | P a g e
Instrumentation and Automation of Mechatronic
Cortez Italo Jose1
,Cortez Liliana2
,Trinidad Garcia Gregorio1
,Morokina Galina
S3
, Luisillo Miguel1
Research Laboratory Digital Systems and Renewable Energies.
1
Faculty of Computer Science, Benemérita Universidad Autónoma de Puebla
2
Faculty of Electronics. Puebla, Mexico.
3
National Mineral ResourcesUniversity(MiningUniversity), St Petersburg, Russia
ABSTRACT
This paper presents the methodology used for the automation of a mechanical system, which will be used to
perform scans on tooth surfaces, in this paper the mathematical modeling of the structure for further
implementation was carried out in order to get a reconfigurable device using specialized software. To carry out
this study various mathematical tools for developing the mathematical model were used, then control routines
that allow the manipulation mechanism for each axis independently performed. The implementation was carried
out by integrating various electrical, electronic and computer systems for an efficient control of the movement
and location of robot systems.
Key-Words: -Automation, model, mathematical, mechatronic system, microcontroller, data acquisition card
I. INTRODUCTION
Currently the development of technology in
recent decades has resulted in the ability to perform
tasks that require an increasing degree of accuracy
and complexity, which generates the need to update
and improve the techniques used for this function.
Automation is understood as the integration of
various elements applied to a system that perform a
specific task, with the least possible intervention.
The automation process is carried out by
implementing a control system which monitors the
operation of a plant, the field where automation is
possible to apply covers human activities involving
repeatability, accuracy and reduced operation time
are required.
II. DYNAMIC MODEL OF THE
MECHANICAL SYSTEM
Since the movement of the robot must be controlled
to obtain the accuracy that characterizes this type of
mechanism a model is needed, which will abstract the
variables that describe the physical movement of
each axis of the system.
The use of mathematical tools for describing
movements and orientations required by the use of
matrix algebra, Denavit - Hartemnberg algorithm
(DH) through its parameters (θ, d, α α) allows
referencing the length of each axis, the distances and
angles between them, and determine factors such as
speed and torque required to control each axis.
a) CINEMATIC MODEL
Kinematics is the branch of physics that deals with
the study of the laws of motion without addressing
the causes that originated them, it is possible to have
a mathematical model that will allow the study of the
movement and angle of motion of the mechanical
system, without considering speeds, forces
influencing the same.
To determine the model of the mechanism (Fig.
1) is necessary to analyze each axis individually, in
order to specify each of the forces, masses, and
accelerations in each axis immersed [2].
Figure 1. Mechanical structure.
For the study of the Y axis (Fig.2) equations of
the forces involved in this reference axis is
determined. The following equations illustrate these
forces.
RESEARCH ARTICLE OPEN ACCESS

Figure 2. Representation of the physical quantities of
the shaft.
−𝑥´2 − 𝑥´´´2 = 𝑚3 𝑧𝑟 (1)
𝑦´2 + 𝑦´´´2 = 𝑚3 𝑥 𝑟 (2)
𝑟𝑦 + 𝑚3 𝑔 = 𝑚3 𝑦𝑟 (3)
𝑎3
2
𝑦´2 −
𝑎3
2
𝑦´´2 − 𝑏3 𝑟𝑦 + 𝑤3 𝑚3 𝑥 𝑟 = 0 (4)
−
𝑎3
2
𝑥´2 −
𝑎3
2
𝑥´´2 − 𝑐3 𝑟𝑦 + 𝑤3 𝑚3 𝑧𝑟 = 0 (5)
Where:
𝑧𝑟Z axis position
𝑥 𝑟 X axis position
𝑦𝑟Y axis position
𝑚3Mass arm 3
𝑟𝑦 Force transmitted by the rope to Y axis
𝑎3Spacing blocks glide.
𝑤3Distance between the center of mass of the arm
3 and the center of the union 3.
Balance equations can be solved by finding the
five variables of the equations system, Figure 3
shows the free-body diagram of the transverse
support arm 2 (X axis), and the equation of arm
balance is described by:
𝑥´1+𝑥´´1 + 𝑥´´´1 − 𝑚2 𝑔 + 𝑟𝑦 = 0 (6)
𝑦´1+ 𝑦´´1 + 𝑦´´´1 + 𝑥´2+ 𝑥´´ = 𝑚2 𝑧𝑟2 (7)
𝑟𝑥 − 𝑦´2+𝑦´´2 = 𝑚2 𝑥 𝑟 (8)
𝑎2
2
𝑦´1 −
𝑎2
2
𝑦´´1 − 𝑏2 𝑦´´´1 + 𝑒2 𝑟𝑥 − 𝑢2 𝑚2 𝑥 𝑟 +
+𝑣2 𝑚2 𝑧 𝑟 − 𝑐23 𝑥´2 − 𝑐23 𝑥´´2 +
+𝑎23 𝑦´2 + 𝑎23 𝑦´´2 = 0 (9)
−
𝑎2
2
𝑥´1 +
𝑎2
2
𝑥´´1 + 𝑏2 𝑥´´´1 − 𝑑2 𝑟𝑥 − 𝑤2 𝑚2 𝑥 𝑟 +
+𝑣2 𝑚2 𝑔 +
𝑎3
2
+ 𝑏23 𝑦´2 + −
𝑎3
2
+ 𝑏23 𝑦´´2 +
+ 𝑐23 − 𝑏3 𝑟𝑦 − 𝑐 𝑚3 = 0 (10)
−
𝑐2
2
𝑦´1 +
𝑐2
2
𝑦´´1 +
𝑐2
2
𝑦´´´1 + 𝑢2 𝑚2 𝑔 +
+𝑤2 𝑚2 𝑧 𝑟 + 𝑏23
𝑎3
2
𝑥´2 + 𝑏23 −
𝑎3
2
𝑥´´2 +
+ 𝑎23 + 𝑐3 𝑟𝑦 = 0 (11)
Where:
𝑚2Mass of arm 2
𝑟𝑥 Force transmitted by the rope to axis X
𝑐 𝑚3 Engine torque arm
𝑢2 Position of the center of mass of the arm 2
(Component𝑦1)
𝑣2 Position of the center of mass of the arm 2
(Component 𝑦1)
𝑤2 Position of the center of mass of the arm 2
(Component 𝑦1)
𝑎23Distance from the center of mass of the
arm 2 (Component 𝑦1)
𝑏23Distance from the center of mass of the arm 2
(Component 𝑥1)
𝑐23Distance from the center of mass of the arm 2
(Component 𝑧1)
Figure 3. Representation of the physical quantities of the X
axis
III. INSTRUMENTATION AND
AUTOMATION OF THE
MECHANISM.
Subsequent modeling of the mechanical system , the
architecture of the instrumentation required for such
mechanical systems (Fig. 4), involves the interaction
of various modules and it is designed as: distance
measurement, sending module data control module
speed, power amplifier for each axis angle control
module for sample acquisition system and a general
control system which receives information about the
current position of the robot and generates the
necessary instructions to perform a particular task .

Figure. 4. Block diagram of the system
The development of this system is divided into the
design elements of both hardware and firmware
design, and finally designing a combinational digital
system, the electrical circuit used for automation
describes the hardware design which is divided into a
power and a control stage.
This diagram shows the connections between the
control and power stages of system in addition to
indicating the physical connectors on the final circuit
board, to facilitate understanding and wiring it.
The automation of this mechanical system is the
foundation on which further work will be conducted
within, this work is to perform scanning teeth.
Thus if you want to modify the configuration,a
simple change in the parameters is needed. No need
for full system programming.
To measure the distance of linear ultrasonic sensors,
which were characterized as to measure in a range of
1 cm were used 2 m.
To perform this function a mathematical expression
(12) takes the time it takes a signal from being issued
until the bounce back product with a flat surface was
used.
𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒 = 𝑡𝑖𝑚𝑒 ∗ 340 𝑘𝑚
𝑕𝑟 (12)
The module responsible for the measurement of
revolutions uses a motor coupled to the shaft, which
provides digital pulses for each rotation of the motor,
the number of pulses generated in a turn is
determined by the sensor resolution sensor typically
20 pulses are generated for each motor rotation.
To determine the motor rpm the mathematical
expression (13) which calculates from the pulse
generated by the sensor is used.
𝑟𝑝𝑚 =
𝑠𝑒𝑛𝑠𝑜𝑟 𝑝𝑢𝑙𝑠𝑒𝑠
60000 ∗𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑝𝑢𝑙𝑠𝑒𝑠 𝑝𝑒𝑟 𝑠𝑝𝑖𝑛
(13)
The angle control system is carried out using stepper
motors, which need pulses for rotation of the motor,
generally four pulse sequences for performing the
required movement of the motor, this sequence is
repeated 50 times for a complete rotation engine,
with this we can make the shift to a desired angle.
For the expression (14) the above stated
parameters are used, this term will provide the exact
number of pulses to be sent to the motor for rotating
the rotor to the desired angle.
𝑎𝑛𝑔𝑙𝑒 =
𝑑𝑒𝑠𝑖𝑟𝑒𝑑 𝑎𝑛𝑔𝑙𝑒 ° ∗ 100 𝑝𝑢𝑙𝑠𝑒𝑠
180°
(14)
IV. RESULTS
The results at the end of this work are listed below:
A speed control for DC motors and for a
servomotor, which selects the motor to be controlled
and its speed is set was designed, you can choose
each motor independently.
It was performed with the use of a combinational
logic circuit, which serves to select and set between
DC motors and motor operating speed.
The tests were made to this system consisted of
testing the engine selection system by entering the
code for each motor and observing the signals on an
oscilloscope with which it was found that the
selection stage motor function properly.
Subsequently testing stage speed setting is made,
this step was tested by selecting a motor, after this
speed was varied from the minimum value to the
maximum value, and these ranges are given by PWM
module having the microcontroller, which is 8 bits.
These tests were conducted in 2 parts, the first
without the connected motors where the output
signals were observed on an oscilloscope.
In the second part of this test engines with this
operation with the connected and mounted on the
engine system it ensured connect.
Meter speed for DC motors, which will provide
information about the speed thereof are designed so
as to anticipate possible engine failures.
Testing the speed measurement system they were
performed with motors without charge and
subsequently considering the system load. The results
in Table 1 provide information concerning the
attenuation factor due to the load.
Table 1. Measurement of revolutions in the system
measures
Motor No-load
measurement
Load
measurement
Attenuation
factor

X 2000 R.P.M. 856 R.P.M. 42.8%
Y
Left.
1800 R.P.M. 1010 R.P.M. 56.1 %
Y
Right.
1800 R.P.M. 1010 R.P.M 56.1 %
With these data it is possible to obtain
information on the status of the engines and the
mechanical system, which will be used to detect early
failure of the mechanical system and engine.
Angle control for a laser beam and an
optical receiver designed. Whose function is to
independently position the angle of incidence of the
laser beam and the reflection angle of an optical
receiver. For the positioning of these motors are
employed steps of bipolar type, which are in the
mechanism.
Angle control takes as input argument the desired
angle to the laser and the optical receiver, which
becomes the number of steps to be performed for
each stepper motor
The tests were performed at this module consisted of
measuring the angle using a compass with which the
angle obtained by the mechanism and the actual
angle obtained was verified. It was concluded that
control angle operating properly for integer values of
angles for actual angle values in the real number
modulo rounded top, thus creating a maximum error
of 0.9 °.
Meter distance to the 3 axes of freedom of the
mechanism was designed, this module is designed
using linear ultrasonic sensors, which calculates the
distance from the bounce time of the signal, the
distance meters are designed to provide for required
for these interface modules, necessary for the
operation of the 4 sensors to the controlling
mechanism, and obtaining the distance for each
sensor.
Distance measurement tests on each axis
verifying this measurement system with the use of a
vernier were performed. By testing error with
counting system of measurement, which is 0.008
mm, which translates to 8 microns was obtained.
The communication between the PC and the
developed card, developed using the built-in module
to the microcontroller USB communication was
configured for communication in CDC mode, which
is characterized by emulating a serial communication
port in the USB mode.
Communication tests were conducted between the
PC card and satisfactory results in terms of card
configuration and data acquisition from the same.
Finally he devised a test routine for the entire system
in which all modules described above, subsequently,
the performance of electronic systems and, the
mechanical system is evaluated they can combine.
A card (fig.5) consisting of a control stage which
allows interface sensors and a power amplifier , it
provides the system , the energy required for
operating the system according to the configurations
developed user has a total consumption of 80 watts,
the power of this card is obtained from a switching
power supply ATX with capacity of 450 W.
Figure 5. Data acquisition card developed
Developed card contains the necessary elements
for the regulation of heat generated by H bridges, for
which evidence about the required size of heat sinks
for electronic components implemented, which are
presented in Table 2 were performed.
Table 2. Comparison of size sinks with H bridges
behavior
Size
sink
H bridge behavior
2.5 cm2 H bridge burned completely.
4.5 cm2 Some components are burned.
10 cm2 Some components showed heating.
15 cm2 The components showed no warming in 24
hrs of use.
V. CONCLUSIONS
This work will benefit the field of dentistry because
they provide the tools necessary for the development
of studies and work in this area.
It allowed the study of various areas of
electronics such as power systems, digital systems,
also allowed the deepening programming firmware
using a programming language of high level and
conducted a study on mechanical systems to meet
their operation for further automation.
A problem that arose was the adjustment in the
mechanical system, because it had several flaws that
caused a delay in terms of estimated development
time of this work, these failures were solved using
more experienced people in the area, with which it

was obtained a better idea of the origin of these
failures, for further correction.
The importance of this work lies in the
development of electronic instrumentation in the area
of digital systems using microcontrollers, which
currently represent a response to the need to automate
processes in a reliable, fast and versatile way.
As future work modifying the power stage is
raised using other switching devices, which reduces
board space and occupy fewer elements.
In addition the development of a communication
system between the card and the computer
acquisition, which would be obtained more data
transfer in a shorter time is proposed.
Another modification that arises do future work is
the modification, corresponding to the X axis
mechanical system, due to the use of a gearbox,
which generates reduction in engine speed, for this
reason, the modification to the system mechanical
contribute to a shorter displacement of the shaft and
thus to a reduction in total scan time.
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