Mechatronic systems consist of components from different technologies, like electronics, electro-mechanics and mechanics. Simulation allows to examine the interactions between the various components. This article describes how an affordable SPICE-based analog circuit simulator is used to model mechatronic systems. A schematic editor has been customised to ease model entry. A large multitechnical library, consisting of electrical, electromechanical, mechanical and hydraulic components has been developed, in order to allow rapid prototyping of mechatronic systems. The article discusses the modelling of electromechanical actuators and planar mechanisms more in detail.

By applying the energy conservation principle, mechatronic systems can be converted to electric circuits, and be modeled in an analog circuit simulator. For rapid prototyping of mechatronic systems, an extensive component model library is required. At VTT Automation, a multitechnical library has been developed for PSpice, a well-known, relatively inexpensive circuit simulator. The library consists of electrical, electro-mechanical, mechanical and hydraulic components and contains models at different abstraction and accuracy levels. A schematic editor has been customized to allow user-friendly input of multitechnical systems.