The world is experiencing the beginning of a revolution in robotics and mechatronics. A key part of this revolution is integration with the Internet of Things and machine-to-machine interfaces. This networking of robotics and mechatronics promises significant market opportunities for a new generation of robots. The basic theory and procedures for the design and development of practical robotics and mechatronics are important for all students and engineers who wish to engage in the field and this book provides an essential introduction to this, describing how to successfully create practical robotics and mechatronics. It is based on the author's 30 years of experience of robotics development in Mitsubishi Heavy Industries, Ltd., JAMSTEC, and Nagasaki University, and contains many examples of real-world robots from new underwater vehicles, ships, robotic fish, unmanned aviation robotics, to space robotics, and medical robotics.
Inspec keywords: medicine; robots; aerospace engineering; marine engineering; mechatronics; sustainable development
Other keywords: medical robotics; medical applications; basic system design procedure; sustainable energy systems; mechatronics; space applications; marine applications; marine robotics; aerospace robotics
Subjects: Artificial intelligence (theory); Transducers and sensing devices; Engineering computing; General and management topics; Actuating and final control devices; Biology and medical computing; Transportation system control; Control applications to materials handling; Control applications in manufacturing processes; Robotics
This book can provide hints for solutions to developing new robotics and mechatronics which are intelligent and practical.
Classification of robotics and mechatronics, and their needs in society are outlined in this chapter. Robotics and mechatronics penetrate into every part of society. The definition of robotics is as follows: `Robotics is a system of intelligent machinery which consists of sensors, actuators, and a controller.' The definition of mechatronics is `mechanics including an electrical circuit'.
The experiential methods and basic ideas to create practical robotics and mechatronics are presented in this chapter. Robotics and mechatronics are based on several technologies. The most important technologies are mechanics, electronics, electrical engineering, and information technology. A prominent person sometimes creates and develops robotics and mechatronics alone; however, it is rare for a single person to produce them to a marketable level. Usually, a team is organized by engineers from mechanics, electronics, software, manufacturing, and business persons who direct the product development to the market. The author has experienced, that the optimal number of people to create new robotics and mechatronics is five.
Successful methods of designing basic systems for robotics and mechatronics are described in this chapter. Robotics and mechatronics are a `system'. The definition of system is a `network', which consists of `multiple elements, and has a net performance that exceeds that of each element'. Robotics is a system which consists of sensors, actuators, and a controller, according to the definition of the Japanese Ministry of Economics. Engineers in Japanese industries in the twentieth century referred to mechatronics as a system which consists of mechanics and electronics.
The dynamics and control design necessary in the development of robotics and mechatronics are reviewed in this chapter.
The past, present, and future AUV technologies developed by the author, who belonged to the Japan Agency for Marine-Earth Science and Technology (JAMSTEC) as the leader of the autonomous underwater vehicle group, are described in this chapter. The first to be presented is the deep and long-distance cruising AUV Urashima, powered by a fuel cell, with the following specifications: 10-m length; 2.5-m width; 2.4-m height; 10-tons weight; 300-km cruising distance; and 3500-m depth diving at 3-kt speed autonomously in the ocean. It is used for sea bottom surveys in earthquake areas and for research of global warming phenomena. The second AUV technology described is the next-generation AUV designed by the author for higher manoeuvrability and longer distance cruising than Urashima. Third, this chapter details biomanoeuvring AUVs, which are fish-like swimming robots used for various purposes in scientific research. Finally, a marine system network based on AUVs is described.
The author and his colleagues have developed the robotic fish. The robotic fish technology can create new underwater robotics which can perform life-like swimming. It is found that the technologies of the robotic fish have much potential for creating new space mechatronics through these applications. The author and his colleagues still continue to conduct further experiments to produce these space products.
The practical wrist rehabilitation robot has been developed and is used in hospitals. The robots are introduced and applied to several hospitals, and the author and his colleagues obtain clinical data to complete the research. In addition, the author and his colleagues improve more functions according to the requirements from medical doctors, therapists, and patients.
Development of ocean energy power generation has long been considered potentially the next generation of renewable energy resources. The author has begun research on the construction of cluster-based offshore ocean energy generation technology, as shown in Figure 9.1. Specifically, this includes the development of a hybrid of wind power, wave power, and tidal power generation, and the development of marine equipment using resilient vibration blades (this type of power generation would be ideally suited for applications such as local fisheries), and the development and construction of power plant maintenance systems. All efforts are being made to promote this concept, and the author and his colleagues are eager to proceed with a prototype system offshore near Nagasaki, Japan. Finally, the author expects that the above technological and human resource development will provide a base or prototype on which an ocean energy industry could potentially be built. Also the author is developing the IoT systems of production and maintenance for the ocean energy industry.
