Two marks Questions

Mechatronics [MH1031]
Unit 1
1. What is Mechatronics? Give examples.
Mechatronics is the synergistic integration of mechanical engineering with electronics &
Intelligent control algorithms in the design & manufacture of products process.
Examples washing machine! "o#ot! automo#ile electronic fuel in$ection & antiloc% #ra%e
systems! digital camera etc.
&. 'escri#e various elements of measurement system with help of a #loc% diagram.
(ensor It responds to the )uantity #eing measured #y giving as its output
a signal which is related to the )uantity.
(ignal conditioner It ta%es the signal from the sensor & manipulates it into
a condition which is suita#le for either display *or+ for
use to exercise control.
'isplay ,he output from the signal conditioner is displayed.
-. Identify the sensor! signal conditioner & display elements in the measurement systems of a+
mercury in glass thermometer #+ a .ourdon pressure gauge.
a+ (ensor / mercury
signalconditioner/fine#orestem
display / mar%s on the stem.
#+ (ensor / curved tu#e
signal conditioner / gears
display / pointer moving across a
scale.
0. Identify the various elements that might #e present in a control system involving a
thermostatically controlled electric heater.
1rocess 2 heater
3ontrolled varia#le 2 temperature
Measurement device 2 #imetallic strip
3omparison element 2 thermostat
3orrection element 2 relay.
4. What is meant #y se)uential control & illustrate with an example.
,he control system in which the actions are strictly ordered in a time or event driven
se)uence is %nown as se)uential control.
Example domestic washing machine. ,he operations to #e carried out in the correct
se)uence are! pre wash cycle! main wash cycle & rinse cycle.
5. (tate steps that might #e present in the se)uential control of a dish washer.
Water in! rinse! water out
Water in! heat water! rinse! water out
Water in! rinse! water out
6. 3ompare & contrast the traditional design of a watch with that of a Mechatronics designed
product.
,raditional design Mechatronics design
i. .ul%y i. 3ompact
ii. 7imited functions ii. More functions
iii. "e)uires rewinding iii. 'oes not re)uire rewinding
iv. 3ostlier iv. 3heaper.
8. 3ompare and contrast the control system for the domestic central heating system involving a
#imetallic thermostat and that involving microprocessor.
.imetallic element Mechatronics design
i. (low i. 9ast
ii. 7imited accuracy ii. More accurate
iii. (imple functions iii. Many functions
iv. 3heap iv. More 3heap.
:. 7ist the advantages of Mechatronics system.
1. Increased functionality and letter design
&. More use of electronics & software instead of mechanical function
-. ;ssumes responsi#ility for process & operation with little interference of
operators.
0. <igh levels of integration
4. =ses ;I and intelligent process control
5. <igh relia#ility & safety.
1>. 'escri#e #riefly the evolution of Mechatronics system.
Modern Mechatronics systems evolved through several stages and categori?ed as
1. (tand alone systems Ex washing machine! compact dis% player! auto
focus! camera! #oat auto pilot etc.
&. (ystem with high level of distri#uted sensor! micro controller! actuator
Ex wire aircraft.
-. 7arge factory system.
0. (ystem that incorporates intelligent control Ex humanoid ro#ot.
11. What are the disadvantages of Mechatronics design.
1. Initial cost is very high
&. 3omplicated design
-. "epair & maintenance is complex
0. Its replacement is difficult.
1&. What are the %ey elements of Mechatronics system.
1. Information system
&. Mechanical system
-. Electrical system
0. 3omputer system
4. (ensor & actuators
5. "eal time interfacing.
=nit / &
1. 'efine sensor & transducer
(ensor is an element in a measurement system that ac)uires a physical parameter and
changes it into a signal. ,ransducer is a device that converts the energy from one form to
another.
&. 'efine range & span.
,he range of a transducer defines the limits #etween which the input can vary. ,he
span is the maximum value of the input menus the minimum value.
-. 'efine accuracy & precision
;ccuracy It is defined as the a#ility of an instrument to respond to a true value of a
measured varia#le under the reference conditions.
1recision It is defined as the degree of exactness for which an instrument is designed
to perform.
0. 'efine sensitivity.
It is the relationship indicating how much output may #e o#tained per unit input.
4. 'efine <ysteresis.
It is defined as the difference in the output for a given input when this value is
approached from the opposite directions.
5. 'efine repeata#ility & reproduci#ility.
"epeata#ility It is defined as the a#ility of an instrument to produce the same output
for repeated applications of the same input value.
"eproduci#ility It is defined as the closeness of agreement among the repeated
measurements of the output for the same value of the input under the same operating conditions
over a period of time.
6. 'efine sta#ility It is the a#ility of the transducer to give the same output when used to
measure a constant input over a period of time.
8. 'efine dead #and and dead time
'ead #and It is the range of input values for which there is no output.
'ead time It is the length of time from the application of an input until the output #egins to
respond & change.
:. 'efine "esolution It is the smallest change in the input value that will produce an
o#serva#le change in the output.
1>. Explain the significance of the following information given in the specification of a strain
gauge transducers
"ange 6> to 1>>> @ 1a
9ull range output 0> mA
Bon linearity & hysteresis >.4C full range output.
,he range indicates that the
transducer can #e used to
measure pressures #etween 6>
& 1>>> @1a
It gives an output of 0> mA
when the pressure is 1>>> @1a
Bon linearity & hysteresis will
lead to erros of >.4C of
1>>>! *ie+ 4 @1a.
11. What is the non2linearity error! as a percentage of full range! produced when a 1@
potentiometer has a load of 1>@ & is at onethird of its maximum displacement.
( )
( )
( )
( )
1 7
& -
1
7
1
7
& -
" D1@E! " D1>@E! xD>.--
"
x 2x
"
non2linearity errorD F1>>C
"
x 12x G1
"
>.1 >.-- 2>.--
D D >.6C
>.1F>.-- 12>.-- G1
1&. What is displacement & position sensor.
'isplacement sensors are concerned with the measurement of the amount #y which
some o#$ect has #een moved. 1osition sensors are concerned with the determination of the
position of some o#$ect with reference to some reference point.
1-. Bame some sensors which are used for displacement measurement.
1. potentiometer sensor &. resistance strain gauge element
-. push / pull displacement sensor 0. 7A',
10. Bame some sensors which are used for position measurement.
1. photo electric sensors &. <all effect sensors -. optical encoders.
14. 'efine proximity sensor.
1roximity sensors are a form of position sensor and are used to determine when an
o#$ect has moved to within some particular critical distance of the sensor.
15. 'efine optical encoder. What are its type.
;n encoder is a device that provides a digital output as a result of a linear *or+ angular
displacement.
Incremental encoder It detect changes in rotation from some datum position.
;#solute encoder It gives the actual angular position.
16. What is hall effect?
When a #eam of charged particles passes through a magnetic field! the #eam is
deflected from it straight line path due to the forces acting on the particles. ,his is %nown as
<all effect.
18. What is the wor%ing principle of eddy current proximity sensor?
If a coil is supplied with an alternating current! an alternating magnetic field is
produced. If there is a metal o#$ect in close proximity to this alternating magnetic field! then
eddy currents are induced in it. ,he eddy currents themselves produce a magnetic field. ;s a
result! the impedance of the coil changes & so the amplitude of the alternating current.
1:. Bame some sensors used for measurement of velocity
1. ,achogenerator &. incremental encoder-. pyro electric sensor
&>. Bame some signal conditioning operations.
;mplification! lineari?ation! comparision! protection! filtering! temperature
compensation! ;nalog to 'igital conversion! 'igital to ;nalog conversion.
&1. What is the resolution of an ;' converter with a word length of 1& #its & an analogue
signal input range of 1>>v?
1>>
"esolution D D&0.0mA
&1&
&&. What is the conversion time for a 1& #it ;'3 with a cloc% fre)uency of 1 M<??
5
1
3onversion time D D>.4 sec
& 1>

&-. (tate shannonHs sampling theorem.

When the signal is sampled at a rate f
s
&f
m
! the signal can #e reconstructed from its
samples without distortion.
=nit / -
1. 'raw the sym#ols for
a+ a pressure relief valve #+ a &I& valve c+ a 0I& valve
&. ; pneumatic system is operated at a pressure of 1>>> % 1a. What diameter cylinder will #e
re)uired to move a load re)uiring a force of 1& @B?
2-
&
2-
&
9orce
1ressure D
;rea
1&
;D D1&F1>
1>>>
J'
D1&F1>
0
' D >.>14
' D 1&0mm.
-. If a stepper motor has a step angle of 6.4! what digital input rate is re)uired to produce a
rotation of 1> revIsec?
o
o
-5>
Bo.of pulses per step D D08 pulsesIsec.
6.4
'igital input D08F1> D 08> pulsesIrev.
0. (tate the num#er of degrees of freedom each of the following mechanism has
Kour %nee / degrees of freedom / 1
Kour an%le / degrees of freedom / -
Wind screen wiper mechanism / 'L9 / 1
4. ; hydraulic cylinder is to #e used to more a wor% piece through a distance of 5> mm in &>
secs. ; force of 14@B is re)uired to move the wor% piece. 'etermine the re)uired wor%ing
pressure & hydraulic flow rate if a cylinder with a piston diameter of 64mm is availa#le.
( )
&
&
-
-
J >.>64
;rea D D m
0
>.>5F
flowrate D D m Isec.
&>
9 14F1>
pressure D D D @1a
;
5. (uggest suita#le actuator for ro#ot arm $oint & $ustify.
6. ;n actuator has a stem movement which at full travel is 0>mm. It is mounted with a linear
plug process control valve which has a minimum flow rate of >.0 a maximum flow rate of >.&
m
-
Is. What will #e the flow rate when the stem movement is a+ 1> mm #+ &> mm?
9or a linear valve the percentage flow rate is the same as the percentage stem
displacement.
a+ a percentage stem displacement of &4C gives a percentage flow rate of &4C *ie+ >.>4
m
-
Is.
#+ a percentage stem displacement of 4>C gives a percentage flow rate of 4>C *ie+ >.1
m
-
Is.
8. ;n actuator has a stem movement which at full travel is 0> mm. It is mounted on a process
control valve with an e)ual percentage plug & which has a minimum flow rate of >.& m
-
Is & a
maximum flow rate of 0 m
-
Is. what will #e the flow rate when the stem movement is a+ 1>mm
#+ &>mm.
-
-
M min D >.&m I sec
M max D 0m I sec
( max D 0>mm

( max
1>
0>
-
&>
0>
-
M M max
+
M min M min
0
M D >.& >.0&m Isec.
>.&
0
+ M D >.& >.8:m Isec.
>.&
S
a
b

=



=



=


:. What is mechanism & @inematics.
Mechanism are motion converters in that they transform motion from one form to some
other re)uired form. @inematics is the study of motion without regard to forces.
1>. What is %inematics chain & four #ar chain.
; se)uence of $oints & lin%s is %nown as %inematics chain.,he connection of four lin%s
to give four $oints a#out which turning can occur is %nown as four #ar chain.
11. What is cam? What are its types.
; cam is a #ody which rotates or oscillates and in doing so imparts a reciprocating or
oscillatory motion to a second #ody called the follower.
,ypes eccentric! heart shaped & pear shaped.
1&. ; compound gear train consists of the final driven wheel with 14 teeth which meshes with a
second wheel with :> teeth. Ln the same shaft as the second wheel is a wheel with 14 teeth.
,his meshes with a fourth wheel! the first driver! with 5> teeth. What is the overall gear ratio?
3 ; ; .
' . 3 '
. '
; 3
w w w w
overall gear ratio D
w w w w
B B
B B
14 14 1
.
5> :> &0
= = =
=
= =
1-. Identify the motions involved in the following mechanism.
1. ,he %eys on a computer %ey#oard / translational motion
&. ,he pen in an NK plotter / translational motion
-. ,he hour hand of a cloc% / rotational motion
0. the pointer on a moving coil ammeter / rotational motion
4. ;n automatic screw driver / translational plus rotational motion.
10. ; d.c moter is re)uired to have a+ a high tor)ue at low speeds for the movement of large
loads #+ a tor)ue which is almost constant regardless of speed. (uggest suita#le forms of
motor.
a+ (eries wound d.c. motor #+ (hunt wound d.c. motor.
14. (uggest possi#le motors d.c *or+ a.c! which can #e considered for applications where a+
cheap! constant tor)ue operation is re)uired #+ high controlled speeds are re)uired c+ low
speeds are re)uired d+ maintenance re)uirements have to #e minimi?ed.
a+ '.3. shunt wound #+ induction motor
c+ d.c. motor d+ a.c. motor.
=nit / 0
1. 'efine programma#le logic controller
173 is defined as a digital electronic device that uses a programma#le memory to store
instructions and to implement functions such as logic! se)uencing! timing! counting &
arithmetic in order to control machines & processes.
&. (%etch the timing diagram for LB delay & L99 delay timer.
LB delay timer ,his type of timer waits for a fixed delay period #efore turning LB.
L99 delay timer ,his type of timer switches off an output after a time delay from #eing
energi?ed.
-. 'raw the relay programming & 173 1rogramming e)uivalents for two input ;B' & BL,
gate.
"elay programming 173 programming
;B' gate
; coil is not energi?ed unless two! normally open switches are #oth closed.
BL, gate
; coil is energi?ed! when there is no input to the switch.
0. What is latching in 173Hs?
In some situationHs! it is necessary to hold a coil energi?ed! even when the input which
energi?ed it ceases. ,he latch circuit is used to carry out such an operation. It is a self
maintaining circuit! in that after #eing energi?ed! it maintains that state until another input is
received. It remem#ers its last state.
4. 'evice a 173 timing circuit that will switch an output LB for 1> secs & then switch it off.
5. What are the criteria that need to #e considered for selecting a 173?
1. input I output capacity is re)uired
&. type of input I output is re)uired
-. si?e of memory is re)uired
0. speed & power re)uired for 31= is needed.
6. Mention specific features of 173Hs
1. 173Hs are rugged & designed to withstand vi#rations temperature! humidity & noise.
&. ,he interfacing for inputs & outputs is inside the controller.
-. ,hey are easily programmed.
8. (tate the programming methods of 173.
1. 7adder programming &. (tructured text programming
-. 9unction #loc% diagram 0. (e)uential function charts
4. Instruction list
:. What are the three ma$or types of 173 application?
1>. Bame the two ways in which input I output is incorporated into the 173.
11. 'raw the ladder logic diagram to represent a+ two switches that are normally open & #oth
have to #e closed for a motor to operate #+ Either of two! normally open! switches have to #e
closed for a coil to #e energi?ed & operate an actuator.
1&. What is ladder programming?
,he ladder programming involves each program tas% #eing specified as though a rung
of a ladder. ,hus such a rung could specify that the state of switches ; & . are #oth closed
then a solenoid! the output is energi?ed.
1-. Write a#out internal relays?
,he internal relays #ehave li%e relays with their associated contacts! #ut in reality are
not actual relay #ut associated #y the software of the 173. Internal relays are used when there
are programs with multiple input conditions.
10. What is an up counter & down counter?
;n up counter could count up to the preset value *ie+ events are added until the num#er
reaches the set values! when the set value is reached the counters contact changes state.
; down counter could count down from the preset value to ?ero *ie+ events are
su#tracted from the set value. When ?ero is reached the counters contact changes state.
14. What are operations that are carried out with a 173 on data words?
1. moving data
&. comparison of magnitudes of data
-. ;rithmetic operations such as additons & su#traction
0. 3onversions #etween .3'! #inary & octal.
=nit / 4
1. What are the various stages in designing Mechatronics system?
,he various stages in Mechatronics design are
a+ ,he need
#+ ;nalysis of the pro#lem
c+ 1reparation of the specification
d+ Generation of the possi#le solutions.
e+ (election of the suita#le solutions
f+ production of a detailed design
g+ 1roduction of wor%ing drawings
&. What are the advantages of the micro processor controlled system?
,he microprocessor controlled system can cope easily with given precision &
programmed control. ,he (ystem is much more flexi#le. ,his improvement in flexi#ility is a
common characteristic of Mechatronics systems when compared with traditional systems.
-. 7ist down the various Mechatronics elements in an automatic camera.
,he #asic elements of the control system used in an automatic camera is #ody! lenses &
flash. ,he other elements are
1. sensors / 7ight sensor! range sensor! lens sensor metering sensor.
&. solenoid valve
-. flash setting unit
0. motor drives! ?oom & exposure unit.
0. What are the axes of a pic% & place ro#ot?
,he ro#ot has three axes a#out which motion can occur
a+ "otation in a cloc%wise *or+ counter cloc%wise direction of the unit on its #ase.
#+ ;rm extension or contraction & arm up or down
c+ Gripper open *or+ close.
4. <ow do the movement of ro#ot ta%e place?
3loc%wise rotation of the unit might result from the piston in a cylinder
#eing extended & the counter cloc%wise direction #y its retraction.
,he upward movement of the arm might result from the piston in a linear
cylinder #eing extended and the downward motion from it retracting.
5. 7ist the actuators used in automatic camera & its function.
;3,=;,L" 9=B3,ILB
Motor I 9ilm transport
Motor II (hutter & mirror action! film rewind
Motor III 9ocusing drive
Motor IA 7ens aperture drive
Motor A 9lash ?oom drive
(hutter magnet Exposure time control
6. 7ist the difference #etween traditional design & Mechatronics design.
,";'I,ILB;7 'E(IGB ME3<;,"LBI3 'E(IGB
.ul%y system 3ompact
3omplex mechanisms (implified mechanisms
Bon / ad$usta#le movement cycle 1rogramma#le movements
3onstant speed drives Aaria#le speed drives
Mechanical synchroni?ation Electronic synchroni?ation
"igid heavy structures 7ighter structures
;ccuracy determined #y tolerance of
mechanism
;ccuracy achieved #y feed#ac%
Manual controls ;utomatic and programma#le controls