Holistic system modeling in mechatronics

This paper outlines an alternative modeling scheme for mechatronic systems, as a basis for their concurrent design. The approach divides a mechatronic system into three generic subsystems, namely generalized executive, sensory and control, and links them together utilizing a combination of bond graphs and block diagrams. It considers the underlying principles of a multidisciplinary system, and studies the flow of energy and information throughout its different constituents. The first and second laws of thermodynamics are reformulated for mechatronic systems, and as a result three holistic design criteria, namely energy,entropy and agility, are defined. These criteria are formulated using the bond graph representation of a mechatronic system. As a case study, the three criteria are employed separately for concurrent design of a five degree-of-freedom industrial robot manipulator.

Research highlights
► A combination of bond graphs and system block diagrams can provide a synergistic model of mechatronic systems.
► The laws of thermodynamics are applied to defining various performance evaluation criteria for mechatronic systems.
► The design of a five degree-of-freedom industrial manipulator was improved using the holistic modeling approach and thermodynamics-based performance criteria.