Determination of dynamic properties of the caterpillar drive of hydraulic reclamation machines and the method of articulated attachment of the working body of the trenchless pipelayer

Objective. The objective of the study is to determine the requirements for various devices of hydraulic reclamation machines, which are widely used in the construction of canals and drains, to maintain a given slope, as well as the calculation of the executive mechanism that serves to eliminate the oscillating movement of the working body relative to the line of the specified slope.Methods. A mathematical description of the vibrations of the working body for caterpillar hydraulic reclamation machines with mounted working bodies is given.Results. The article presents the results of research to identify the main factors affecting the oscillations of the working body of caterpillar reclamation machines. As a result of theoretical and experimental studies, it was found that when a caterpillar machine with a rigid undercarriage crosses single and multiple irregularities, the movement of the cutting edge of the rigidly mounted working body is graphically depicted by sinusoidal curves. The obtained dependencies allow conducting calculations of the automatic system of maintaining the specified slope and establish the area of stable modes of system operation. A geometric method for optimizing the hinge linkage of the working body of trenchless pipelayer is presented.Conclusion. The proposed methods of improving the performance of caterpillar hydraulic reclamation machines with mounted working bodies when moving on uneven ground surfaces can be used to create a wide class of mounted earthmoving machines, both with passive and active working bodies.

Improvement Methods and Ways of Manipulator Electromechanical Force Compensating System

In paper electromechanical system for force compensating medium manipulator used in industry for motion different cargo was presented. Working purpose is determination of research method of manipulator with force compensating control system. Improvement methods and ways of current force compensating manipulator sys-tem are concerned. Research showed that now light-weight structures of manipulators with elastic mechanical transmissions are used. Low stiffness of mechanisms increases elastic mechanical vibration of cargo. Active methods of compensation are used using an electric drive with a force control system in executive mechanism of manipulator for realization of compensation of cargo weight and damping of elastic mechanical vibrations. Control system is recommended to build with main force feedback in elastic element. Multifactorial method is rational to use during choosing device of manipulator electromechanical module. This method considers the most main operating conditions of manipulator. Problem solution of control influence synthesizing must make with correctors with differentiating properties. Studies have shown that proposed methods for improving force compensating manipulators will make structure as lightweight, reduce inertia, increase working area of manipulator, and improve quality of operations for moving various cargos

Layered control of forklift lateral stability based on Takagi–Sugenofuzzy neural network

An anti-roll hydraulic cylinder is designed as an executive mechanism of the lateral stability control to provide lateral support force on the basis of an analysis of the structure of the forklift and the mechanism of lateral instability. A lateral stability layered control method based on Takagi–Sugeno (T–S) fuzzy neural network is proposed, divides the forklift lateral stability control into the upper identification layer, the middle control layer and the lower executive layer. Simulation and real vehicle test results indicate that the forklift lateral stability control method based on the T–S fuzzy neural network can effectively identify the forklift driving state, reduce the forklift rollover possibility and improve forklift safety under limited working conditions.

TRAJECTORY SIMULATION OF BADMINTON ROBOT BASED ON FRACTAL BROWN MOTION

This paper focuses on the design of badminton robots, and designs high-precision binocular stereo vision synchronous acquisition system hardware and multithreaded acquisition programs to ensure the left and right camera exposure synchronization and timely reading of data. Aiming at specific weak moving targets, a shape-based Brown motion model based on dynamic threshold adjustment based on singular value decomposition is proposed, and a discriminative threshold is set according to the similarity between the background and the foreground to improve detection accuracy. The three-dimensional trajectory points are extended by Kalman filter and the kinematics equation of badminton is established. The parameters of the kinematics equation of badminton are solved by the method of least squares. Based on the fractal Brownian motion algorithm, a real-time robot pose estimation algorithm is proposed to realize the real-time accurate pose estimation of the robot. A PID control model for the badminton robot executive mechanism is established between the omnidirectional wheel speed and the robot’s translation and rotation movements to achieve the precise movement of the badminton robot. All the algorithms can meet the system’s requirements for real-time performance, realize the badminton robot’s simple hit to the ball, and prospect the future research direction.

Kinematic analysis of the method increasing the accuracy of treatment of conic surfaces

A method for processing high-precision conical surfaces under conditions of free grinding on a lever machine is proposed, which allows adjusting the process parameters taking into account the technological heredity of the workpiece from the point of view of the distribution pattern of the allowance to be removed from its surface. The scheme of implementation of the method in which the main links are a tool in the form of a faceplate and a separator for maintaining the required accuracy of its flatness. In order to develop a method of targeted control of the actuation of the working surface of the tool to maintain the required accuracy of its flatness, mathematical modeling of the motion patterns of the links of the actuator of the base machine, on which the proposed device for processing conical parts is installed, was performed. In the process of mathematical simulation structural analysis of the executive mechanism of the lever machine is carried out, connection between the generalized coordinate and provisions of links of the executive mechanism of the lever machine is established, position of the lever and the upper link in the vertical plane is probed, geometrical parameters of reflexive rotational motion of the upper link are considered, the ratio for calculation of length of a crank of the executive mechanism of the machine depending on amplitude of figurative movement of its output link is obtained. An analytical relationship has been established between the input and output links of the machine actuator, which makes it possible to calculate the length of the first of the marked links depending on the required amplitude of the oscillatory motion of the second of them and creates the prerequisites for the development of engineering methods for controlling the process of forming high-precision conical surfaces under conditions of free grinding.

Intelligent Mechatronic System as an Adaptive Model Having "Controlled Construction"

The authors develop an adaptive approach to synthesis of intelligent digital models, which have acquitted particular significance during the research of controlled mechanical constructions. Capacity for generation of active reactions to external functional and energy impacts is a distinctive feature, when the object automatically finds rational or optimal states by means of respective adaptation to the aforesaid impacts. The paper presents principles of intelligent model construction, which simulates the processes of controlled transitions between various states of "the controlled construction" in presence of NON-factors. The principle of cyclic adaptive control has been taken as the basis of generation of the "controlled construction" intelligent model, where in every cycle the managerial decision generation technology is implemented, which provides maintenance of the current construction state or its transition to a more preferable state. The identification process for identification of states of the studied construction has been analyzed, and it assumes comparison of the current values of its parameters corresponding to microstates of the informational image along with classification parameters of the preliminary designated multiple taxons of microstates. A taxonomic scheme was offered for this purpose based on the use of five main taxons having the definite system meaning. It has been shown that application of the squared distance metrics to median abscissa of the selected intervals is technologically sufficient as a proximity measure of the parameter value to the taxon of microstates. The management scenario has been considered in the intelligent mechatronic system, which displays transitions between the optimal states of "the controlled construction" under the influence of external factors. An example, of the intelligent model of mechanical construction is shown in the form of a pulse-type regulator for control of the executive mechanism of system reactions. Construction of the pulse-type regulator is based on the use of the virtual signal formation scheme of mismatch between the current value of the input signal and its value defined by the intelligent system setting mechanism. This mismatch is subject to discrete convolution with the tabulated and abridged original of the required pulse characteristic. It is also shown that sufficiently economical recurrent interrelations for calculations according to mismatch values are formed during construction of the model on the basis of proportional integral and differential regulators.

ACCOUNTING FOR THE ELASTIC COMPONENT OF THE STROKE OF THE ROD IN THE BRAKE SYSTEM OF A TRUCK OF A FREIGHT CAR WITH A CYLINDER 670B

The application of braking systems with the lo-cation of the executive mechanism directly upon a bogie is a promising trend in domestic brake production and freight car manufacturing on the whole. In the paper a common circuit of a braking rod leverage with the location of cylinders 670V on the bogie of two-axle type 2 and type 3 (RSS 9246-2013) is considered. The investigation carried out in the work is a continuation of works connected with the updating of a braking system developed earlier. The aim of the work consists in the definition of cylinder rod outlet limits taking into account elastic deformation of all elements of leverage in accordance with the procedure developed and appraised earlier and also the definition of maximum possible thickness of a brake pad used for this circuit in operation. The rod outlet limits obtained will be standard as system transmission ratio is unified, and an elastic constituent will have minimum deviations from the value obtained and depend upon a specific execution of elements. In this investigation there is used a 3D brake system model developed thoroughly that allows obtaining an elastic deformation value precise enough. Furthermore, data obtained allow defining a maximum operation outlet of rod of the braking cylinder 670V in the system analyzed during car motion on a long steep slope. On the basis of the investigations carried out there are defined the limits of rod outlet (35…47mm) for the developed common brake system with cylinders 670V that allows using brake pads of maximum width (65+5mm) used in railway freight rolling-stock of the RF. The maximum operation value of rod outlet is obtained during car motion on a steep long slope (63mm) which does not exceed a working stroke of a cylinder (100mm).