Design of Mechatronic and Robotic Systems

Major: Information Technologies in Instrument Engineering
Code of subject: 7.152.05.O.009
Credits: 4.00
Department: Department of Intelligent Mechatronics and Robotics
Lecturer: prof. Tykhan M.
Semester: 2 семестр
Mode of study: денна
Мета вивчення дисципліни: The goal of teaching the discipline is to acquire skills for choosing optimal modern sensors and strategies for measuring geometric quantities. To do this, you should get acquainted with the main types and characteristics of means of measuring geometric quantities, understand the limits of their capabilities and the causes of errors, learn to evaluate the influence of external factors, understand the peculiarities of the use of converters and means of various types.
Завдання: The study of an educational discipline involves the formation of competencies in students of education: general competences: knowledge and understanding of the subject area and understanding of professional activity • ability to apply professional knowledge and skills in practical situations (ZK01); • skills in using information and communication technologies (ZK04); • ability to search, process and analyze information from various sources (ZK05); • the ability to learn and master modern knowledge (ZK08). professional competences: • the ability to apply modern methods of measuring electrical and non-electrical physical quantities, to evaluate the characteristics of measurement errors and uncertainties (FC2); • acquisition of basic ideas about the operation and design of digital and analog units of measuring equipment (FC6); • the ability to choose methods and means of measurements, tests and control, to perform experimental studies of products, processes and to process the obtained results (FC10). professional competences of a professional direction: • acquisition of basic knowledge of theories and methods necessary for understanding devices and systems (FCS 2.2); • acquiring knowledge of the elementary base, principles of construction, functioning, basic parameters and characteristics of electromechanical, optical-mechanical and mechanical components of mechatronics, modern methods of their modeling and calculation (FCS 2.3); • acquisition of basic knowledge of basic methods and principles of construction and operation of mechatronic systems, in particular systems of automatic control and regulation of mechatronic objects (FCS 2.4); • the ability to produce and draw up, in accordance with the rules and requirements of standards, methodical and regulatory documents, technical documentation (including functional, structural and electrical schematic diagrams, design documentation) for mechatronics devices, using modern methods and tools, and to be able to describe their principle of operation ( FCS 2.6);
Learning outcomes: As a result of studying the discipline the student should know: - commonly used methods of contact and optical means of measuring geometric quantities and their application in engineering and research; - Characteristics of geometric measurement tools, influencing factors, measurement procedures and data processing to obtain the required parameters. The student should be able to demonstrate: - the ability to evaluate the influence of external factors on the measurement results, calculate the parameters of image processing sensors and laser triangulation sensors. - the ability to choose the optimal sensor type and measurement strategy to determine geometric parameters depending on the surface geometry, optical and physical properties of the surface, the required speed of obtaining 3D coordinates; - the ability to synthesize structural, functional and schematic diagrams of devices and systems for measuring mechanical parameters and characteristics of technological and environmental objects.
Required prior and related subjects: Prerequisites: Physics; Fundamentals of Optoelectronics; Error Analysis Corequisites: Design of Mechatronic Mechanisms; Basis of Mechatronic Mechanisms Design; Microsystem Technologies
Summary of the subject: Basics of geometrical measurements; The main types of geometric measurement instrumentation; Touch probes for geometrical measurements; coordinate measuring machine; Image processing sensors; Autofocusing sensors; Fiber Probe; Laser triangulation sensor; 3D-scaners; Verification of coordinate measuring devices
Опис: Topic 1. Fundamentals of geometric measurements Contents: Fundamentals of geometric measurements. Elements of geometric shapes on drawings and on details, indicators of geometric elements, tolerances of shapes and location. Topic 2. The main types of tools for geometric measurements Content: Basic types of tools for geometric measurements. Manual tools for geometric measurements, features of their use. Topic 3. Contact transducers for geometric measurements Contents: Contact transducers for geometric measurements (inductive probes, optoelectronic encoders), principles of operation, characteristics, application features. Topic 4. Coordinate measuring machines Contents: Coordinate measuring machines (structure, principle of operation, characteristics, influencing factors, measurement procedure, application features). Topic 5. Image processing sensors Content: Image processing sensors. Basic types, principles of operation, characteristics, sources of errors, peculiarities of working with image processing systems, selection of the appropriate type of lighting (definition of the origin of coordinates, measurement "in the image" and "on the image", entering the main geometric elements, determining geometric parameters). Topic 6. Sensors with autofocus Content: Sensors with autofocus, principle of action, characteristics, features of application. Topic 7. Fiber optic probe Contents: Fiber optic probe, principles of operation, characteristics, features of application. Optical fiber probes for coordinate measurements (structure, principle of operation, characteristics, measurement procedure, application features). Topic 8. Laser triangulation sensor Contents: Laser triangulation sensor, principle of operation, characteristics, basic calculations, features of application. Topic 9. 3D scanners Contents: 3D scanners: structure, principle of operation, features of application Topic 10. Checking of tools for coordinate measurements Contents: Verification of means for coordinate measurements. Standards regulating the verification of means for coordinate measurements. Calibration bodies. Probing error, flatness, spatial errors and their definition. Topic 11. Interferometers. Content: The principle of overlap. Polarization interferometer. White light interferometer. Application of interferometers. Topic 12. Choosing the optimal measurement procedure Content: Combining sensors of different types and choosing the optimal measurement procedure.
Assessment methods and criteria: oral polling, quizzes (30%) final control (credit): oral-writing form (70%)
Критерії оцінювання результатів навчання: The procedure and criteria for assigning points and assessments 100–88 points – (“excellent”) is awarded for a high level of knowledge (some inaccuracies are allowed) of the educational material of the component contained in the main and additional recommended literary sources, the ability to analyze the phenomena being studied in their interconnection and development, clearly, succinctly, logically, consistently answer the questions, the ability to apply theoretical provisions when solving practical problems; 87–71 points – (“good”) is awarded for a generally correct understanding of the educational material of the component, including calculations, reasoned answers to the questions posed, which, however, contain certain (insignificant) shortcomings, for the ability to apply theoretical provisions when solving practical tasks; 70 – 50 points – (“satisfactory”) awarded for weak knowledge of the component’s educational material, inaccurate or poorly reasoned answers, with a violation of the sequence of presentation, for weak application of theoretical provisions when solving practical problems; 49-26 points - ("not certified" with the possibility of retaking the semester control) is awarded for ignorance of a significant part of the educational material of the component, significant errors in answering questions, inability to apply theoretical provisions when solving practical problems; 25-00 points - ("unsatisfactory" with mandatory re-study) is awarded for ignorance of a significant part of the educational material of the component, significant errors in answering questions, inability to navigate when solving practical problems, ignorance of the main fundamental provisions.
Порядок та критерії виставляння балів та оцінок: The procedure and criteria for assigning points and assessments 100–88 points – (“excellent”) is awarded for a high level of knowledge (some inaccuracies are allowed) of the educational material of the component contained in the main and additional recommended literary sources, the ability to analyze the phenomena being studied in their interconnection and development, clearly, succinctly, logically, consistently answer the questions, the ability to apply theoretical provisions when solving practical problems; 87–71 points – (“good”) is awarded for a generally correct understanding of the educational material of the component, including calculations, reasoned answers to the questions posed, which, however, contain certain (insignificant) shortcomings, for the ability to apply theoretical provisions when solving practical tasks; 70 – 50 points – (“satisfactory”) awarded for weak knowledge of the component’s educational material, inaccurate or poorly reasoned answers, with a violation of the sequence of presentation, for weak application of theoretical provisions when solving practical problems; 49-26 points - ("not certified" with the possibility of retaking the semester control) is awarded for ignorance of a significant part of the educational material of the component, significant errors in answering questions, inability to apply theoretical provisions when solving practical problems; 25-00 points - ("unsatisfactory" with mandatory re-study) is awarded for ignorance of a significant part of the educational material of the component, significant errors in answering questions, inability to navigate when solving practical problems, ignorance of the main fundamental provisions.
Recommended books: [1].Christoph R., Neumann H. J. Multisensor Coordinate Metrology: Measurement of Form, Size, and Location in Production and Quality Control / Ralf Christoph, Hans Joachim Neumann. - Verlag Moderne Industrie, 2004, 94 p. ISBN 9783937889030 [2].Berger. R. W. The Certified Quality Engineer Handbook / Roger W. Berger. - ASQ Quality Press, 2002. 502 p. URL: https://books.google.com/books?isbn=0873895029 [3].Benbow D. W. The Certified Quality Technician Handbook Donald W. Benbow, Ahmad K. Elshennawy, H. Fred Walker. - ASQ Quality Press, 2003. 213 p. https://books.google.com/ books?isbn=0873895584 [4].Walker H. F. The Certified Quality Inspector Handbook H. Fred Walker, Ahmad K. ElshennawY, Bhisham C. Gupta. - ASQ Quality Press, 2012. 480 p. URL: https://books.google.com/books?isbn=0873898451 Sladek J. A. Coordinate Metrology: Accuracy of Systems and Measurements / Jerzy A. Sladek. – Berlin, Heidelberg : Springer, 2015, 471 p. ISBN 9783662484654. – URL: https://books.google.com.ua/books?id=mlJECwAAQBAJ&num=11&redir_esc=y.
Уніфікований додаток: Inclusive educational services (UNIFIED SUPPLEMENT) Lviv Polytechnic National University ensures the realization of the right of persons with disabilities to obtain higher education. Inclusive educational services are provided by the Service of accessibility to learning opportunities "Without restrictions", the purpose of which is to provide permanent individual support for the educational process of students with disabilities and chronic diseases. An important tool for the implementation of the inclusive educational policy at the University is the Program for improving the qualifications of scientific and pedagogical workers and teaching and support staff in the field of social inclusion and inclusive education. Contact at: St. Karpinsky, 2/4, 1st floor, room 112 E-mail: nolimits@lpnu.ua Websites: https://lpnu.ua/nolimits https://lpnu.ua/integration
Академічна доброчесність: Academic integrity The policy regarding the academic integrity of the participants of the educational process is formed on the basis of compliance with the principles of academic integrity, taking into account the norms "Regulations on academic integrity at the Lviv Polytechnic National University" (approved by the academic council of the university on June 20, 2017, protocol No. 35).

Design of Mechatronic and Robotic Systems (курсовий проект)

Major: Information Technologies in Instrument Engineering
Code of subject: 7.152.05.O.010
Credits: 3.00
Department: Department of Intelligent Mechatronics and Robotics
Lecturer: Tykhan M
Semester: 2 семестр
Mode of study: денна
Мета вивчення дисципліни: The goal of teaching the discipline is to acquire skills for choosing optimal modern sensors and strategies for measuring geometric quantities. To do this, you should get acquainted with the main types and characteristics of means of measuring geometric quantities, understand the limits of their capabilities and the causes of errors, learn to evaluate the influence of external factors, understand the peculiarities of the use of converters and means of various types.
Завдання: The study of an educational discipline involves the formation of competencies in students of education: general competences: knowledge and understanding of the subject area and understanding of professional activity • ability to apply professional knowledge and skills in practical situations (ZK01); • skills in using information and communication technologies (ZK04); • ability to search, process and analyze information from various sources (ZK05); • the ability to learn and master modern knowledge (ZK08). professional competences: • the ability to apply modern methods of measuring electrical and non-electrical physical quantities, to evaluate the characteristics of measurement errors and uncertainties (FC2); • acquisition of basic ideas about the operation and design of digital and analog units of measuring equipment (FC6); • the ability to choose methods and means of measurements, tests and control, to perform experimental studies of products, processes and to process the obtained results (FC10). professional competences of a professional direction: • acquisition of basic knowledge of theories and methods necessary for understanding devices and systems (FCS 2.2); • acquiring knowledge of the elementary base, principles of construction, functioning, basic parameters and characteristics of electromechanical, optical-mechanical and mechanical components of mechatronics, modern methods of their modeling and calculation (FCS 2.3); • acquisition of basic knowledge of basic methods and principles of construction and operation of mechatronic systems, in particular systems of automatic control and regulation of mechatronic objects (FCS 2.4); • the ability to produce and draw up, in accordance with the rules and requirements of standards, methodical and regulatory documents, technical documentation (including functional, structural and electrical schematic diagrams, design documentation) for mechatronics devices, using modern methods and tools, and to be able to describe their principle of operation ( FCS 2.6);
Learning outcomes: In consequence of learning student must: know - theory of mechanism conception and analysis in full for calculated tasks solution, such as structural, kinematic and dynamical analysis, kinematics of gear units. be able - execute of mechanisms analysis and synthesis, design and calculation of transmission elements and gear units.
Required prior and related subjects: – Prerequisites: Physics, part 1 and 2; Basis of Mechatronics; Modelling of Mechatronic Units. – Co-requisites: Basis of Mechatronic Mechanisms Design, part 1 and 2.
Summary of the subject: The teaching of the discipline involves the necessary training of students in matters of construction and design of measuring instruments and their elements. The discipline involves the study of methods and principles of construction of mechanical components of measuring instruments - parts, housings and mechanisms of measuring instruments, the basis of standardization and interchangeability, tolerances and fits, principles of construction.
Опис: Concept of measurement, system of units. The structure of measuring devices. Primary measuring converters of mechanical quantities, designs and principles of operation. Mechanical transmissions and their parameters. Toothed gear. Coupling of converters with measuring equipment. Elements of the technology of manufacturing measuring devices.
Assessment methods and criteria: • workflow control (30%): oral questioning, design-graphic work. • final control (70%) (control measure - examination): written (60%) and oral (10%) forms.
Критерії оцінювання результатів навчання: The evaluation of learning results is carried out in accordance with the quality and completeness of the tasks of current control, calculation-graphic, course, credit control, qualification works, as well as the defense of course and qualification works.
Порядок та критерії виставляння балів та оцінок: The procedure and criteria for assigning points and assessments 100–88 points – (“excellent”) is awarded for a high level of knowledge (some inaccuracies are allowed) of the educational material of the component contained in the main and additional recommended literary sources, the ability to analyze the phenomena being studied in their interconnection and development, clearly, succinctly, logically, consistently answer the questions, the ability to apply theoretical provisions when solving practical problems; 87–71 points – (“good”) is awarded for a generally correct understanding of the educational material of the component, including calculations, reasoned answers to the questions posed, which, however, contain certain (insignificant) shortcomings, for the ability to apply theoretical provisions when solving practical tasks; 70 – 50 points – (“satisfactory”) awarded for weak knowledge of the component’s educational material, inaccurate or poorly reasoned answers, with a violation of the sequence of presentation, for weak application of theoretical provisions when solving practical problems; 49-26 points - ("not certified" with the possibility of retaking the semester control) is awarded for ignorance of a significant part of the educational material of the component, significant errors in answering questions, inability to apply theoretical provisions when solving practical problems; 25-00 points - ("unsatisfactory" with mandatory re-study) is awarded for ignorance of a significant part of the educational material of the component, significant errors in answering questions, inability to navigate when solving practical problems, ignorance of the main fundamental provisions.
Recommended books: 1. Гаврилов А.Н. Основы технологии приборостроения. - М., Высшая школа, 1976, 328 с., ил. 2. Руденко П.О. Проектування технологічних процесів з машинобудування, Київ, Вища школа, 1993, 413 с. 3. Медвідь М.В., Шабайкович В.А. Теоретичні основи технології машинобудування, Львів, Вища школа, 1976, 300 с. 4. Маталин А.А. Технология машиностроения. Учебник для вузов. Л. Машиностроение. Ленинградское отделение. 1985 - 495 с. 5. Петрухин П. Резание конструкционных материалов, режущие инструменты и станки , М, Машиностроение, 1974. 6. Справочник технолога приборостроителя: 2-х томах. 2-ое изд., прораб. и доп. Т1 - под ред. П.В.Сыроватченко, 607 стр., ил. Т2 - под ред. Е.А. Скороходова, 463 стр., ил. - М., Машиностроение, - 1981 г. 7. Красников В.Ф. Технология миниатюрных изделий. – М., Машиностроение, 1980 г. 8. Красковский Е.Я., Дружинин Ю.А., Филатова Е.М. Расчет и конструирование механизмов приборов и вычислительных систем: Учеб. пособие для приборостроит. спец. вузов. – М.: Высш. шк., 1991. – 480 с. 9. Кореняко О.С. Теорія механізмів і машин. К.: Вища школа, 1987 р.
Уніфікований додаток: Inclusive educational services (UNIFIED SUPPLEMENT) Lviv Polytechnic National University ensures the realization of the right of persons with disabilities to obtain higher education. Inclusive educational services are provided by the Service of accessibility to learning opportunities "Without restrictions", the purpose of which is to provide permanent individual support for the educational process of students with disabilities and chronic diseases. An important tool for the implementation of the inclusive educational policy at the University is the Program for improving the qualifications of scientific and pedagogical workers and teaching and support staff in the field of social inclusion and inclusive education. Contact at: St. Karpinsky, 2/4, 1st floor, room 112 E-mail: nolimits@lpnu.ua Websites: https://lpnu.ua/nolimits https://lpnu.ua/integration
Академічна доброчесність: Academic integrity The policy regarding the academic integrity of the participants of the educational process is formed on the basis of compliance with the principles of academic integrity, taking into account the norms "Regulations on academic integrity at the Lviv Polytechnic National University" (approved by the academic council of the university on June 20, 2017, protocol No. 35).