Machine Design

An Integrated Environment
Toolkit Evaluation Example

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
An Integrated Environment
Toolkit Evaluation Example

.
NIDAYS09
A Mechatronics Approach to Machines
Design
.

Vanni Zanotto

DIEGM Robotics - University of Udine

via delle Scienze 208, 33100 Udine, Italy
email: vanni.zanotto@uniud.it - web: www.mechatronics.it

February 25, 2009

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
An Integrated Environment
Toolkit Evaluation Example

Outline

...
1 Classical Machine Design Approach
...
2 Mechatronics Approach
...
3 LabVIEW - an Integrated Environment
...
4 Mechatronics Toolkit - A Novel Toolkit for Machines Design

...
5 Toolkit Evaluation

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
An Integrated Environment
Toolkit Evaluation Example

Outline

...
1 Classical Machine Design Approach
...
2 Mechatronics Approach
...
3 LabVIEW - an Integrated Environment
...
4 Mechatronics Toolkit - A Novel Toolkit for Machines Design

...
5 Toolkit Evaluation

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
An Integrated Environment
Toolkit Evaluation Example

Outline

...
1 Classical Machine Design Approach
...
2 Mechatronics Approach
...
3 LabVIEW - an Integrated Environment
...
4 Mechatronics Toolkit - A Novel Toolkit for Machines Design

...
5 Toolkit Evaluation

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
An Integrated Environment
Toolkit Evaluation Example

Outline

...
1 Classical Machine Design Approach
...
2 Mechatronics Approach
...
3 LabVIEW - an Integrated Environment
...
4 Mechatronics Toolkit - A Novel Toolkit for Machines Design

...
5 Toolkit Evaluation

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
An Integrated Environment
Toolkit Evaluation Example

Outline

...
1 Classical Machine Design Approach
...
2 Mechatronics Approach
...
3 LabVIEW - an Integrated Environment
...
4 Mechatronics Toolkit - A Novel Toolkit for Machines Design

...
5 Toolkit Evaluation

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Machine Design

Customer

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Machine Design

Design
Customer -
Requirements

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Machine Design

Design Conceptual
Customer - -
Requirements Design

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Machine Design

Design Conceptual
Customer - - -
Requirements Design

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Classical Approach

System
Specification

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Classical Approach

System - Mechanical
Specification Design

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Classical Approach

System Mechanical
- Mechanical - Eng.
Specification Design
Dev.

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Classical Approach

System Mechanical
- Mechanical - Eng. - Electrical
Specification Design Design
Dev.

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Classical Approach

System Mechanical Electrical

- Mechanical - Eng. - Electrical - Eng.
Specification Design Design
Dev. Dev.

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Classical Approach

System Mechanical Electrical

- Mechanical - Eng. - Electrical - Eng. -
Specification Design Design
Dev. Dev.

Control
- Software
Eng.

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Classical Approach

System Mechanical Electrical

- Mechanical - Eng. - Electrical - Eng. -
Specification Design Design
Dev. Dev.

Control Machine
- Software - Validation
Eng. Optimization

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Classical Approach

System Mechanical Electrical

- Mechanical - Eng. - Electrical - Eng. -
Specification Design Design
Dev. Dev.

Control Machine
- Software - Validation - Customer
Eng. Optimization

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Classical Approach

System Mechanical Electrical

- Mechanical - Eng. - Electrical - Eng. -
Specification Design Design
Dev. Dev.

Control Machine
- Software - Validation - Customer
Eng. Optimization
.
. Sequential Approach

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Concurrent Design

System
Requirements

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Concurrent Design

Virtual Validation

System
Requirements

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Concurrent Design

Virtual Validation

Mechanical
Design

System
Requirements

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Concurrent Design

Virtual Validation

Mechanical
Design

Electrical
Design
System
Requirements

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Concurrent Design

Virtual Validation

Mechanical
Design

Electrical
Design
System
Requirements
Control
Design

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Concurrent Design

Virtual Validation

Mechanical
Design

Electrical
Design
System
Requirements
Control
Design

Software
Design

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Concurrent Design

Virtual Validation

Mechanical
6 Design

Electrical ?
6 Design
System
Requirements
Control ?
6 Design

Software ?
Design

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Concurrent Design

Virtual Validation

Mechanical
6 Design

Electrical ?
6 Design
System - Prototype
Requirements Validation
Control ?
6 Design

Software ?
Design

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

Concurrent Design

Virtual Validation

Mechanical
6 Design

Electrical ?
6 Design
System - Prototype - Machine
Requirements Validation Manufacturing
Control ?
6 Design

Software ?
Design

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
Classical Machine Design Approach
An Integrated Environment
Mechatronics Approach
Toolkit Evaluation Example

..and what is needed

.
. An Integrated Design Environment is needed..

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
An Integrated Environment A Novel Toolkit for Machines Design
Toolkit Evaluation Example

LabVIEW is an Integrated Environment!

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
An Integrated Environment A Novel Toolkit for Machines Design
Toolkit Evaluation Example

A Novel Toolkit for Machines Design

.
The toolkit is designed to enable virtual machine prototyping;
the use of electro-mechanical simulation and design validation
techniques to help you lower the cost and risk of designing
machines with electronic control systems and motor drive
actuators.

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
An Integrated Environment A Novel Toolkit for Machines Design
Toolkit Evaluation Example

A Novel Toolkit for Machines Design

.
The toolkit is designed to enable virtual machine prototyping;
the use of electro-mechanical simulation and design validation
techniques to help you lower the cost and risk of designing
machines with electronic control systems and motor drive
actuators.
If you have a SolidWorks 3D CAD model, you can simulate
the mechanical and electrical performances of your machine in
. few minutes.

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
An Integrated Environment A Novel Toolkit for Machines Design
Toolkit Evaluation Example

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
An Integrated Environment A Novel Toolkit for Machines Design
Toolkit Evaluation Example

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
An Integrated Environment A Novel Toolkit for Machines Design
Toolkit Evaluation Example

A Novel Toolkit for Machines Design

Motion trajectory design

Visualization
Collision detection
Throughput time studies
Motor, drive and transmission sizing

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
An Integrated Environment A Novel Toolkit for Machines Design
Toolkit Evaluation Example

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
An Integrated Environment A Novel Toolkit for Machines Design
Toolkit Evaluation Example

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design
An Integrated Environment A Novel Toolkit for Machines Design
Toolkit Evaluation Example

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design Off-line Motor Design
An Integrated Environment Human on the Loop
Toolkit Evaluation Example Hardware in the Loop

.
. Mechatronics Toolkit Evaluation

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design Off-line Motor Design
An Integrated Environment Human on the Loop
Toolkit Evaluation Example Hardware in the Loop

.
. Off-line Motor Design

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design Off-line Motor Design
An Integrated Environment Human on the Loop
Toolkit Evaluation Example Hardware in the Loop

Off-line Analysis - Motor Design

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design Off-line Motor Design
An Integrated Environment Human on the Loop
Toolkit Evaluation Example Hardware in the Loop

Motion Dynamic
Planning
- - Simulated - Displacements
Analysis Machine

- Actuators
Forces/Torques

- Actuators
Forces/Torques

Motion - - Controller - Real - Displacements

Planning Machine
6

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design Off-line Motor Design
An Integrated Environment Human on the Loop
Toolkit Evaluation Example Hardware in the Loop

.
. Human on the Loop

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design Off-line Motor Design
An Integrated Environment Human on the Loop
Toolkit Evaluation Example Hardware in the Loop

HoL Haptic - Human on the Loop

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design Off-line Motor Design
An Integrated Environment Human on the Loop
Toolkit Evaluation Example Hardware in the Loop

HoL Haptic

SoftMotion
- DAQ
- Mechatronics
- SolidWorks
Toolkit

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design Off-line Motor Design
An Integrated Environment Human on the Loop
Toolkit Evaluation Example Hardware in the Loop

HoL Haptic

Human ¾
Operator

? SoftMotion
- Real Plant
- DAQ
- Mechatronics
- SolidWorks
Toolkit

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design Off-line Motor Design
An Integrated Environment Human on the Loop
Toolkit Evaluation Example Hardware in the Loop

HoL Haptic

Human ¾
Operator

? SoftMotion
- - Real Plant
- DAQ
- Mechatronics
- SolidWorks
Toolkit

?
DAQ ¾ Controller ¾ ¾

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design Off-line Motor Design
An Integrated Environment Human on the Loop
Toolkit Evaluation Example Hardware in the Loop

HoL Simulation

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design Off-line Motor Design
An Integrated Environment Human on the Loop
Toolkit Evaluation Example Hardware in the Loop

.
. Hardware in the Loop

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design Off-line Motor Design
An Integrated Environment Human on the Loop
Toolkit Evaluation Example Hardware in the Loop

- DAQ -

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design Off-line Motor Design
An Integrated Environment Human on the Loop
Toolkit Evaluation Example Hardware in the Loop

- Actuators
Forces/Torques

µ−Controller - DAQ - Simulated - Displacements

Machine

6
DAQ ¾

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design Off-line Motor Design
An Integrated Environment Human on the Loop
Toolkit Evaluation Example Hardware in the Loop

HIL Simulation - Hardware in the Loop

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design Off-line Motor Design
An Integrated Environment Human on the Loop
Toolkit Evaluation Example Hardware in the Loop

HIL Simulation - Hardware in the Loop

Vanni Zanotto A Mechatronics Approach to Machines Design

 Machine Design Off-line Motor Design
An Integrated Environment Human on the Loop
Toolkit Evaluation Example Hardware in the Loop

Conclusion

.
Mechatronics is the synergistic integration of mechanical
engineering, with electronics and intelligent computer control in
.the design and manufacturing of industrial products and processes.

Vanni Zanotto A Mechatronics Approach to Machines Design