Mechatronic approach in application to solution of research and design problems

• We model ultra-light mobile platform ready to operate with drilling core.
• We examine different configurations in order to operate in different terrain.
• We used rapid prototyping technique in the mechatronic design of the robot.
• We develop an SHM impedance based system for damage detection.
• We assess quality of the system using POD techniques.

In this paper, universality of the mechatronic approach is confirmed with the examples of highly specialized and innovative systems, recently developed for a very specific applications. As shown, similar design steps, tools and testing procedures may lead to effective solutions even for distant and challenging research areas. First, an Ultralight Mobile Drilling System, dedicated to extraction of soil and rock probes from subsurface regions, is presented. For this case, minimization of mass and high mobility of the system, whilst maintaining performance of bigger drilling rigs, required during operation in space environment, is taken into account. The presented design consists of a four-wheeled rover with adjustable rocker mechanism, a multifunctional core drilling module and a support module with manipulation capabilities and dedicated sample storage. Second, entire design process for fully scalable and reconfigurable data-based system for monitoring of technical condition for mechanical constructions is introduced. The system is based on the measurements of electromechanical impedance, which are carried out with piezoelectric transducers. Both presented systems successfully passed the laboratory and industrial tests and, therefore, confirmed correctness of the choices made with the applied design procedures. All aspects of the mechatronic approach were investigated to construct fully functional prototypes designed for different tasks and to deal with different environmental conditions.