scholarly journals APPROXIMATION OF THE WORKSPACE OF PARALLEL AND SERIAL STRUC-TURE MANIPULATORS AS PART OF THE MULTI-ROBOT SYSTEM

2019 ◽  
pp. 121-128 ◽  
Author(s):  
Л. Рыбак ◽  
L. Rybak ◽  
Д.И. Малышев ◽  
D.I. Malyshev ◽  
Л. Бехера ◽  
...  
Keyword(s):  
Mathematical Modeling ◽  
Software Package ◽  
Robotic System ◽  
Geometric Parameters ◽  
Parallel Structure ◽  
Robot System ◽  
C Language ◽  
Computational Problem ◽  
Different Dimensions ◽  
Selection Of

The article describes the application of optimization algorithms for solving the problem of determining the workspace of robots as a serial and parallel structure based on the tripod. The method of approximating the set of solutions of nonlinear inequalities system describing constraints on the geometric parameters of the robot and based on the concept of non-uniform coverings is considered. The internal approximations defined as a set of parallelepipeds are obtained on the basis of the method. The influence of various geometric parameters on the volume of the workspace of the robot is analyzed. To approximate the workspace, the developed algorithm and its modifications with different dimensions of parallelepipeds and approaches to the transfer of constraints from the space of input to the space of output coordinates due to the complexity of the computational problem are used. A software package in the C ++ language is developed to implement the algorithms. The results of mathematical modeling are presented. Various dimensions of the grid to calculate the functions, as well as the accuracy of the approximation are experimentally conducted. The obtained results can be used in the selection of geometric parameters of robots, which determine their limitations when moving as part of a multi-robotic system.

APPLICATION OF OPTIMIZATION OF SPECIFIED PARAMETERS OF THE ACCIDENT-RESISTANT FUEL SYSTEM OF THE HELICOPTER IN SIMINTECH SOFTWARE PACKAGE

2020 ◽  
pp. 7-13
Author(s):  
D. I. Smagin ◽  
K. S. Napreenko ◽  
R. S. Savel’ev ◽  
S. V. Grachev
Keyword(s):  
Mathematical Modeling ◽  
Mathematical Model ◽  
Life Cycle ◽  
Software Package ◽  
Operation Mode ◽  
Design Stage ◽  
Fuel System ◽  
Software Complex ◽  
High Degree ◽  
Selection Of

The process of creating an accident-resistant fuel system (AFS) of a helicopter using mathematical modeling is considered. Possibility of applying optimization algorithms in mathematical modeling of parameters of units of accident-resistant fuel system of helicopter in domestic software complex SimInTech is studied. An approach to solving the problem of optimizing given parameters, both in theory and in practice, is described. Results of the simplest optimization of AFS parameters for nominal operation mode are covered, examples of algorithms for selection of unit parameters are shown. This method of researching the system will allow, with a high degree of accuracy, to determine the necessary parameters at the design stage of the system. It is worth noting that the functionality of the developed dynamic mathematical model in the SimInTech software package is sufficient to perform tasks not only of the conceptual design stage, but also of the subsequent stages of the AFS life cycle.

Parallel and sequential structures of manipulators in robotic surgery

2019 ◽  
Vol 485 (2) ◽  
pp. 166-170
Author(s):  
E. I. Veliev ◽  
R. F. Ganiev ◽  
V. A. Glazunov ◽  
G. S. Filippov
Keyword(s):  
Robotic Surgery ◽  
Robotic System ◽  
Parallel Structure ◽  
Manipulation System ◽  
Surgical Manipulation ◽  
Surgical Operations

The problems of modern robotics associated with the requirements for devices designed for various purposes are considered. The daVinci robotic surgical manipulation system is analyzed. The developed robotic system with a parallel structure designed for various kinds of surgical operations is proposed.

Selection of the optimal hydraulic drive for the press

2021 ◽  
pp. 50-60
Author(s):  
A.A. Antsifirov ◽  
V.A. Krivoshein
Keyword(s):  
Technological Process ◽  
Electric Motor ◽  
Software Package ◽  
Hydraulic Drive ◽  
Hydraulic Press ◽  
Topological Model ◽  
Electric Motors ◽  
Engine Operation ◽  
The Press ◽  
Selection Of

The research presented in the article is devoted to the selection of the electric motor of the hydraulic press drive with a nominal force of 5MN. The article presents the main characteristics and the description of the press operation using the means of mechanization of the technological process of pressure treatment. Using the Deform-3D software package, the process of stamping the crosspiece of the ZIL-130 cardan shaft was simulated. Based on the presented hydraulic scheme of the press, its topological model was formed in the PA-9 software package. The deformation force obtained in the course of modeling the technological process of stamping was used in the topological model of the press. Using a tabular cyclogram, the sequence of actuation of the end switches and hydraulic distributors during the stamping process is shown. In the article, two variants of engine operation were analyzed. Based on the results of the conducted research, it is necessary to focus on the second version of the 55 kW engine, the operation of which will provide the required characteristics of the hydraulic drive of the press, which in turn will allow for technological stamping operations. The simulation tools allow providing estimated information when selecting the necessary tools to ensure the optimal characteristics of hydraulic press drives. The article considered the variation of electric motors that differ from each other in nominal characteristics, with constant characteristics of the pump. For more accurate estimates of energy savings during the operation of the hydraulic drive, it is necessary to vary the characteristics of the pump in the simulation, and the best option is to form an experiment planning matrix when combining the characteristics of the electric motor and the hydraulic pump. This approach ultimately allows forming a function for which one can select a hydraulic drive from existing brands of electric motors and hydraulic pumps for presses of the corresponding range of nominal force.

Development of master-slave magnetic anchoring vision robotic system for single-port laparoscopy (SPL) surgery

2018 ◽  
Vol 45 (4) ◽  
pp. 458-468
Author(s):  
Haibo Feng ◽  
Yanwu Zhai ◽  
Yili Fu
Keyword(s):  
Single Port ◽  
Robotic System ◽  
Surgical Robot ◽  
Distribution Analysis ◽  
Robot System ◽  
Content Type ◽  
Blind Area ◽  
Robot Systems ◽  
Single Port Laparoscopy ◽  
And Performance

Purpose Surgical robot systems have been used in single-port laparoscopy (SPL) surgery to improve patient outcomes. This study aims to develop a vision robot system for SPL surgery to effectively improve the visualization of surgical robot systems for relatively complex surgical procedures. Design/methodology/approach In this paper, a new master-slave magnetic anchoring vision robotic system for SPL surgery was proposed. A lighting distribution analysis for the imaging unit of the vision robot was carried out to guarantee illumination uniformity in the workspace during SPL surgery. Moreover, cleaning force for the lens of the camera was measured to assess safety for an abdominal wall, and performance assessment of the system was performed. Findings Extensive experimental results for illumination, control, cleaning force and functionality test have indicated that the proposed system has an excellent performance in providing the visual feedback. Originality/value The main contribution of this paper lies in the development of a magnetic anchoring vision robot system that successfully improves the ability of cleaning the lens and avoiding the blind area in a field of view.

scholarly journals RESEARCH OF INFLUENCE OF AIR TEMPERATURE ON THE LEVEL OF NITROGEN OXIDES IN SMOKE GASES OF BOILER PLANTS

2019 ◽  
Vol 9 (4) ◽  
pp. 27-32
Author(s):  
Olga A. BALANDINA ◽  
Svetlana M. PURING
Keyword(s):  
Mathematical Modeling ◽  
Nitric Oxide ◽  
Nitrogen Oxides ◽  
Flue Gas ◽  
Software Package ◽  
Flame Temperature ◽  
Combustion Process ◽  
Flue Gases ◽  
Oxidizing Agent ◽  
Mixture Formation

The analysis of the values of the concentrations of the formed nitrogen oxides and the temperatures of the jet plume under various conditions of mixture formation is carried out. The plots of the distribution of torch temperatures and concentrations of nitric oxide in the calculated area for oxidizer temperatures of 20, 60, 100, 150, and 200 ° C were obtained and analyzed. Mathematical modeling of the gaseous fuel combustion process was carried out using the FlowVision software package. An analysis of the results showed that a decrease in the temperature of the air supplied as an oxidizing agent leads to a significant decrease in the concentration of nitrogen oxides in flue gases, while not significantly affecting the change in the flame temperature. The research results can be used to solve the problems of optimizing boiler plants, in order to reduce harmful flue gas emissions. Further modeling is planned to determine the dependence of the influence of various factors on the degree of formation of nitrogen oxides in the flue gases of boiler plants.

scholarly journals Exploring young students creativity: the effect of model eliciting activities

2014 ◽  
Vol 8 (2) ◽  
pp. 51-59
Author(s):  
Talya Gilat ◽  
Miriam Amit
Keyword(s):  
Mathematical Modeling ◽  
Creative Thinking ◽  
Real Life ◽  
Model Eliciting Activities ◽  
Thinking Processes ◽  
Young Students ◽  
Selection Of

The aim of this paper is to show how engaging students in real-life mathematical situations can stimulate their mathematical creative thinking. We analyzed the mathematical modeling of two girls, aged 10 and 13 years, as they worked on an authentic task involving the selection of a track team. The girls displayed several modeling cycles that revealed their thinking processes, as well as cognitive and affective features that may serve as the foundation for a methodology that uses model-eliciting activities to promote the mathematical creative process.Exploración de la creatividad de jóvenes estudiantes: el efecto de actividades que suscitan modelosEl objetivo de este artículo es mostrar cómo involucrar a los estudiantes en situaciones matemáticas de la vida real puede estimular su pensamiento matemático creativo. Analizamos la modelización matemática de dos chicas, de 10 y 13 años, cuando trabajaban en una tarea auténtica que involucraba la selección de un equipo de atletismo. Las chicas mostraron varios ciclos de modelización que revelaron sus procesos de pensamiento, así como las características cognitivas y afectivas que pueden servir como fundamento para una metodología que usa actividades que suscitan modelos para promover los procesos matemáticos creativos.Handle: http://hdl.handle.net/10481/29578Nº de citas en SCOPUS (2017): 1 (Citas de 2º orden, 0)

Comparative Analysis of Novikov and Involute Gearing in the ANSYS Workbench Software Package

2021 ◽  
pp. 16-21
Author(s):  
S.I. Karatushin ◽  
D.A. Khramova ◽  
N.A. Bildyuk
Keyword(s):  
Heat Treatment ◽  
Comparative Analysis ◽  
Software Package ◽  
Strain State ◽  
Gear Ratio ◽  
Geometric Parameters ◽  
Chemical Heat Treatment ◽  
Chemical Heat ◽  
Additional Hardening ◽  
Ansys Workbench

The paper introduces the results of studying the stress-strain state of the Novikov gearing in comparison with the involute gearing, similar in geometric parameters. In both versions, the wheel and gear are selected in size and gear ratio in accordance with the most common recommendations without additional hardening by chemical heat treatment. The zone of multiple contact of mated profiles is analyzed: changes in the geometry of contacts, pressure in the contact and stresses in various phases of gearing.

Influence of geometric parameters of screw nozzles of twin-screw extruder-press on oil yield

2021 ◽  
Vol 12 (3) ◽  
Author(s):  
M. M. Gudzenko ◽  
◽  
V. P. Vasyliv ◽  
M. M. Mushtruk ◽  
M. M. Zheplinska ◽  
...  
Keyword(s):  
Free Volume ◽  
Geometric Parameters ◽  
Oil Yield ◽  
General Nature ◽  
Geometrical Parameters ◽  
Twin Screw Extruder ◽  
Screw Extruder ◽  
Twin Screw ◽  
Working Bodies ◽  
Selection Of

In modern economic conditions, the chosen technology of raw material processing and the choice of the necessary equipment for both the line as a whole and the oil press are of great importance in oil production. In small-capacity workshops, screw presses of various designs are used. The twin-screw extruder occupied a certain niche among the press equipment with a productivity of 150–500 kg/h. Their use can significantly simplify the technology of oilseed processing. They combine operations of heat treatment, grinding, and pressing of vegetable oil. It is important to study the influence of geometric parameters of the oil pressure path and screw nozzle on the oil yield. In twin-screw extruders, it is rational to choose the pitch of the worm, the width of the channel between the turns, the width of the crest of the turn and the length of the nozzle with variable geometrical parameters. The analysis and selection of geometrical parameters of working bodies of a twin-screw extruder on the basis of theoretical calculations are carried out. Two sets of experimental working bodies with the changed geometrical parameters are made. Their theoretical degree of compression is determined, which is 5.50, 4.69, and 4.33, respectively. It is experimentally confirmed that the oil yield depends on the degree of compression due to the geometric parameters of the screw. The effect of a sharp drop in the free volume of the screw on the energy performance and press extruder performance has been revealed. The general nature of the change in the free volume in the areas of nozzle groups is accompanied by an uneven decrease of 40–80% towards the release of oil cake. The nature of the change in the free volume of turns along the length of the screw shaft characterizes the correctness of its design. The selection of rational geometric parameters of the working bodies should be considered in combination with other design parameters, which will intensify the process of oil pressing.

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