1. Design of Mechatronic Systems using SAMTECH software platform
Didier GRANVILLE
CMO, SAMTECH s.a.

2. Examples of mechanical systems simulated by SAMTECH

3. Mechatronic Design Functional Scheme (Definition of Mechatronics for SAMTECH)2
Mechanical Design 4
Mechatronic Simulation
Optimal Mechatronic System 3
Control Design 1
Specifications

4. MECANO Mechatronic Compiler using SAMCEF Mecano and MATLAB Simulink
Rigid kinematical joints,
Sensors and Actuators
Finite elements and S.E.
MECANO
Flexible kinematical joints
Digital Control

5. Machine Tool Model (Agile transfer line, COMAU, MECOMAT)
CAD Geometry defined in SAMCEF Field or recovered from CAD through STEP exchange
Super-Elements to manage large meshes
SAMCEF Mecano assembly conditions (rigid bodies, rigid kinematical joints and flexible sliders) to connect moving flexible bodies
Y guides

6. Machine Tool Mechanical elements Transmission models
ball screw
guideways & rack and pinion
- rack : 선반 or (톱니바퀴의) 래크
- pinion : 톱니바퀴
linear motor

7. Mechatronic Compiler applied to Machine Tool
Position, Velocity, Acceleration, Force
Position Velocity, Acceleration
SAMCEF Mecano FEA model
MATLAB Simulink controller model

8. Machine Tool Model (3EX-R Rotor Milling Machine, HOLROYD, MECOMAT)
CAD Geometry defined in SAMCEF Field or recovered from CAD through STEP exchange
Super-elements to manage large meshes
Assembly conditions

9. High Speed Machine (CETIM)
Linear motors implemented in the generic non linear force element of SAMCEF Mecano
Digital controllers acting on axes modeled in MATLAB Simulink and integrated in SAMCEF Mecano
Comparison between numerical results and experiments :
Less than 8 % of error on the speed and the precision of execution

10. Design of Mechatronic Systems using SAMTECH software platform
Mechanical design using SAMCEF
Mecano : Time response of Mechanisms + Structure
Dynam : Modal analysis + Super-element creation
Asef : Linear static analysis
Repdyn : Harmonic response
Control design using MATLAB Simulink
Integration of Mechanical design (mechanisms + structure) and controller design : import of MATLAB Simulink controller inside SAMCEF Mecano
Optimization of parameterized mechatronic systems using BOSS quattro

11. Conclusions and Perspectives
SAMTECH is developing an industrial integrated software environment for the analysis and the optimization of mechatronic systems
Mechatronic approach : the design of the mechanisms, the structure and of the control system is performed at the same time
First industrial application : Machine Tools
Possible future applications to other mechanical sectors (Aeronautics, Space, Defense, Automotive, Textile machines, Robotics, …)
Digital modeling of controllers at the moment
Next step : analogical modeling of controllers