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 . 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 . Introductory Mechatronic Course 6.9 Books in Mechatronics 6 .10 Mechatronic Curriculum Developments 6 .11 Conclusions: Mechatronics Perspectives 6 .1 Introduction Modern engineering encompasses. Introductory Mechatronic Course 6.9 Books in Mechatronics 6 .10 Mechatronic Curriculum Developments 6 .11 Conclusions: Mechatronics Perspectives 6 .1 Introduction Modern engineering encompasses