Vol 5, No 4 (2019)
Articles
STUDY OF THE STATIC CHARACTERISTICS OF THE WORKSPACE AR600E ROBOT
Abstract
The workspace is one of the most important parameters for evaluating robot flexibility and is important for optimizing robotic configuration, motion planning and control. Firstly, a kinematic model of the manipulator based on its basic structure was put forward. The systems of connection coordinates are established and the direct kinematic solution derived using DH methods. On its basis, the working space of the manipulator analyzed by the Monte Carlo method, based on random probability and software simulation MATLAB for the structural parameters of the robot. A cloud of workspace points has been compiled. Considering the problem of insufficient accuracy of the traditional Monte Carlo method in calculating the working space of the robot, an improved Monte Carlo method using the Beta distribution proposed.
6-12
DEVELOPMENT OF AN APPROACH TO THE MANAGEMENT OF THE STRUCTURE OF WALL-FLOWING
Abstract
The development of a prototype of an underwater robot with a variable geometry of the body is a major complex task, including a whole series of tasks of a scientific, technical, engineering and applied nature, and the creation of new automatic systems for managing it. The creation of such a robot will ensure its high autonomy and maneuverability. In this paper, the development of a solid model of a biomimetic robot hybrid and AUV with a variable geometry of the hull is presented. Also presented is a basic pneumatic circuit integrated into the robot body, which drives the pneumatic muscles fixed to the ribs of the robot's robust body. The experimental part includes the investigation of the vertical and horizontal components of the deformation of the walls of the shell, depending on the pressure supplied by the pneumatic system to the pneumatic muscles.
13-20
DEVELOPMENT OF VIBRATION PROTECTIVE TECHNOLOGIES BASED ON THE MR (METALLIC RUBBER) MATERIAL FOR RUSSIAN LOCOMOTIVES
Abstract
The article describes the use of the elastic-porous damped wire material MR for solving the problems of ensuring vibration safety when creating locomotives of a new generation. Vibration isolators made of MR material for railway diesel generators and the vibration protection system of the driver’s cabin of the TEM-28 locomotive are considered.
21-28
THE ESTIMATION OF ROLLER STRENGTHENING INFLUENCE ON THE ENDURANCE LIMIT OF SHAFTS WITH PRESSURIZED HUB
Abstract
The influence of roller strengthening on endurance limit under bending of the 25 mm and 50 mm diameter shafts made of steel 20 and 25 mm diameter shafts made of steel 40X with a pressurized hub has been examined. It’s been stated that the endurance limit of roller strengthened shafts with a pressurized hub depends not only on a value of compressive residual stresses in their dangerous section but on the character of its distribution. The valuation of a surface hardening influence on the endurance limit of shafts by the surface residual stresses criterion and the average integral residual stresses criterion has been shown that the average integral residual stresses criterion calculated through the part’s dangerous section surface layer thickness equal the critical depth of the non-propagating fatigue crack can be recommended for the hardened shafts with a pressurized hub endurance limit increase prediction. It’s been shown that on a diameter of a shaft with a pressurized hub raising it is necessary to increase a thickness of a hardened surface layer with compressive residual stresses.
29-35
SOFTWARE DEVELOPMENT FOR ESTIMATION OF LOW FREQUENCY SOUND PROPAGATION IN GAS GUIDES OF POWER PLANTS TAKING TO ACCOUNT ACTIVE SOUND SOURCES
Abstract
This paper is devoted to the problems of modelling and calculation of propagation of low frequency sound in gas guides of power plants taking to account active sound sources. The structure of software for prediction and calculation of low-frequency sound propagation in gas guides have described. Software uses four-pole method and takes to account radiation from additional (active) sound course. By using software it is possible to estimate sound source parameters to provide efficient sound attenuation. Examples of software application to calculation of intake and exhaust noise of internal combustion engine are described. The results of calculations show the possibilities of four-pole method software using to design acoustically the parameters of gas guides and mufflers for the different fields of applications.
36-44