Browsing by Author "Zinko, Roman"

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Algorithm of machine creation using the mechanism of articulated disjunction
(Видавництво Львівської політехніки, 2022-02-22) Zinko, Roman; Hlobchak, Mykhailo; Beshley, Andiy; Pitrenko, Oleksiy; Lviv Polytechnic National University; National Aerospace University “Kharkiv Aviation Institute”
Problem statement. Any methodology is based on knowledge about the problem. The fullness and orderliness of the base determine further volumes and possible options for implementing the methodology. Purpose. To analyze the existing ways of machine creations and propose the new effective algorithm of machine creation using the mechanism of articulated disjunction. Considering the research structure and improvement of the informational and program technologies, changes to the traditional methodology of machine creation are made. The existing paradigm: parametric and functional performance of the machine, the design of which is improved based on existing machines, is a modification of predecessors' parametric and functional performance. Proposed paradigm: parametric and functional performance of the new machine, improved based on the subject area of technical solutions, methods of design and operational conditions more precisely coincide with the technological process to realize what they are called. Proposed hypothesis: there are such methodologies of design that provide an opportunity to provide rational productivity within existing operational conditions. Methodology. Morphological space is used to form qualitative features of the created machine. The peculiarity of the proposed methodology is that the set of features of the created machine also contains subsets of processes and phenomena in which the machine is involved. This allows assessing the compliance of the process in which the machine is involved and the machine operation processes. Findings (results). The algorithm of machine creation using the mechanism of articulated disjunction is proposed. It allows the creation of the new construction at a given sequence of stages to improve at every step in a given direction based on the determined criteria. Originality (novelty). Method of articulated disjunction, which is based on the principle of formation of the set of necessary properties of the structural elements of the machine based on a given primary criterion of machine efficiency. The essence of the method of articulated disjunction is that the sample of elements that have common features and properties is reformulated based on a given criterion. The proposed method provides an opportunity to determine the advantages of one structure described by various factors, in comparison with others, based on the criterion set. Practical value. The algorithm of synthesis and improvement of existing machines allows for determining their main quality features in the initial stages of the design of machines.
Design and operational peculiarities of four-degree-of-freedom double-legged robot with pneumatic drive and turning mechanism
(Lviv Politechnic Publishing House, 2020) Korendiy, Vitaliy; Zinko, Roman; Lozynskyy, Vasyl; Havrylchenko, Oleksandr; Lviv Polytechnic National University
Problem statement. Mobile robots are of significant interest among scientists and designers during the last several decades. One of the prospective drives of such robots is based on pneumatically operated walking (stepping) system with no use of electric, heat, magnetic or other types of energy. This allows the use of pneumatically-driven robots in the cases when the use of other energy sources is prohibited (e.g., in some gaseous or fluid mediums). At the same time, the walking (stepping) type of moving increases the manoeuvrability and cross-country capability of the mobile robot, and decreases the harmful effect of its interaction with the supporting surface (e.g., the fertile soil surface) in comparison with wheeled or caterpillar drives. Purpose. The main purpose of this research consists in substantiation of structure and parameters of pneumatic system of four-degree-of freedom mobile robot with orthogonal walking drive and turning mechanism. Methodology. The research is carried out using the basic laws and principles of mechanics, pneumatics and automation. The numerical experiment is conducted in MathCAD software; the computer simulation of the robot’s motion is performed using SolidWorks software; the modelling of the pneumatic system operation is carried out in Festo FluidSim Pneumatic software. Findings (results) and originality (novelty). The improved structure of the mobile robot with orthogonal walking drive and turning mechanism is proposed. The pneumatically operated system ensuring the robot’s curvilinear motion is substantiated. Practical value. The proposed design of walking robot can be used while designing industrial (production) prototypes of mobile robotic systems for performing various activities in the іnvironments that are not suitable for using electric power or other types of energy sources. Scopes of further investigations. While carrying out further investigations, it is necessary to design the devices for changing motion speed of the robot and the height of lifting of its feet.
Substantiation of structure and parameters of pneumatic system of mobile robot with orthogonal walking drive
(Видавництво Львівської політехніки, 2019-03-20) Korendiy, Vitaliy; Zinko, Roman; Muzychka, Diana; Lviv Polytechnic National University; Dniprovsky State Technical University
Problem statement. Mobile robots have awoken a large interest between scientists and designers in the last few years. One of the prospective drives of such robots is based on pneumatically operated system with no use of electric, heat, magnetic or other types of energy. Purpose. The main purpose of this research consists in substantiation of structure and parameters of pneumatic system of mobile robot with orthogonal walking drive. Methodology. The research is carried out using the basic laws and principles of mechanics, pneumatics and automation. The numerical experiment is conducted in MathCAD software and computer simulation of the robot’s motion is performed using SolidWorks software. Findings (results) and originality (novelty). The improved structure of the mobile robot with orthogonal walking drive is proposed. The pneumatically operated system ensuring the robot’s motion is substantiated. Practical value. The proposed design of walking robot can be used while designing industrial (production) prototypes of mobile robotic systems for performing various activities in the environments that are not suitable for using electric power. Scopes of further investigations. While carrying out further investigations, it is necessary to ensure the possibility of changing motion direction of mobile robot by means of pneumatic drive. In addition, it is expedient to design the devices for changing motion speed of the robot and the height of lifting of its feet.