Page 676 - The Mechatronics Handbook

FIGURE 21.20 Error of the tip before and after optimization of the weight distribution between upper and lower
frame.

FIGURE 21.21 The mobile robot (MART) after completion.
upper frame (Fig. 21.20). This example illustrates how the mechanical configuration of the system is
determined by the requirements for good path control and accurate control of the assembly task.
A next step could be to optimize the properties of the suspension between upper and lower frame.
This will further improve the error. This decision made in a very early stage of the design directed other
design decisions. After completion of the project it appeared that the different parameters of the final
construction were close to these early estimates (Fig. 21.21).

21.4 Modern Examples of Mechatronic Systems in Action

A few examples have already been treated in the previous sections. In this section two more examples
will be given.

Rudder Roll Stabilization of Ships

Nowadays most ships use an autopilot to control the heading of the ship. A rudder is the most commonly
used actuator. Some ships, like ferries and naval ships, need also roll stabilization. This can be achieved
passively by means of two connected tanks filled with water that generate stabilizing forces that should

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