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Furthermore, minimization of the cost function J is by and large an iterative practical scheme and, undoubtedly, a knowledge-based and nonanalytic procedure. This complicates the process of mechatronic design. In any event, the design process will need the information represented by p. 1 Mechatronic Design Quotient (MDQ) The problem of mechatronic design may be treated as a maximization of a “mechatronic design quotient” or MDQ [1,6]. 3). 4 is formulated for two categories of technologies or devices m and e, it may be generalized to three or more categories.

The friction radii during impulse between the escape wheel and the pallet fork are r9 and r10. l1, l2 are the distances from the pallet to the axle of the escape wheel and the pallet fork, respectively, when the escape wheel begins to impulse the pallet; l3, l4 are the distances from the impulse pin to the axle of the pallet fork and the balance wheel, respectively. The angular displacements of the balance wheel, pallet fork, and the escape wheel are θb, θp, and θe, respectively. The angular velocities are θ&b , θ& p, and θ&e, and the corresponding angular accelerations are θ&&b , θ&&p, and θ&&e, respectively.

Fm Page 13 Tuesday, September 4, 2007 10:09 AM I Mechatronic Devices 2 Robotic Application of Mechatronics H. Li and S. X. 2-1 Introduction • Behavior-Based Mobile Robot • Fuzzy Controller for Path Tracking • Visual Landmark Recognition System • Experiments and Results 3 Swiss Lever Escapement Mechanism Y. Fu and R. 3-1 Introduction • Structure and Working Principle • Dynamical Modeling • Simulation Studies • Conclusion 4 Instrumented Wheel for Wheelchair Propulsion Analysis M. Mallakzadeh and F.

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