Design of Mechatronic Systems using SAMTECH software platform Didier GRANVILLE CMO, SAMTECH s.a. Didier.Granville@samcef.com

Examples of mechanical systems simulated by SAMTECH

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

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

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

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

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

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

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

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

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