Ukrainian Journal of Mechanical Engineering and Materials Science. – 2017. – Vol. 3, No. 2

Permanent URI for this collectionhttps://ena.lpnu.ua/handle/ntb/42871

Науковий журнал

Засновник і видавець Національний університет «Львівська політехніка». Виходить двічі на рік з 2015 року.

Ukrainian Journal of Mechanical Engineering and Materials Science = Український журнал із машинобудування і матеріалознавства : науковий журнал / Lviv Politechnic National University ; editor-in-chief Oleksiy Lanets. – Lviv, 2017. – Volume 3, number 2. – 118 p. : il.

Ukrainian Journal of Mechanical Engineering and Materials Science

Зміст (том 3, № 2)


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Author: search.filters.author.Korendiy, VitaliyHas files: Yes

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    Substantiation of parameters and analysis of operational characteristics of oscillating systems of vibratory finishing machines
    (Lviv Politechnic Publishing House, 2017-10-19) Korendiy, Vitaliy; Zakharov, Viktor; Lviv Polytechnic National University; ISKRA PJSC
    The calculation diagrams of oscillating systems and operation features of vibratory finishing machines are considered. The mathematical models of three-mass and four-mass oscillating systems are presented. The amplitude values of the oscillating masses displacements are derived. The functions of inertial and stiffness parameters optimization are formed. The optimization problems are solved with a help of MathCAD software. On the basis of synthesized inertial and stiffness parameters, the amplitude-frequency characteristics of the oscillating systems of vibratory finishing machines are formed and analyzed. In order to verify the validity of the proposed theoretical approaches, the simulation of the mathematical model of the oscillating system motion is carried out by means of numerical solving of the system of differential equations of the oscillating masses motion. The proposed structural diagrams and the operation schemes of the vibratory finishing machine, as well as the derived analytical formulas may be used by designers, researchers and technologists while improving existent and developing new equipment for vibro-finishing treatment.
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    Structural and kinematic synthesis of the 1-Dof eight-bar walking mechanism with revolute kinematic pairs
    (Lviv Politechnic Publishing House, 2017-10-19) Korendiy, Vitaliy; Lviv Polytechnic National University
    Problem statement. The use of existing and the most widespread drives (wheeled and caterpillar one) is sometimes limited by complicated operational conditions while moving on rough terrain. The mentioned drives require a relatively flat surface to be operated effectively. A rocky or a hilly terrain imposes the demand of the use of alternative types of drives, in particular, walking ones. Purpose. In this paper, there will be proposed and analysed one of the possible structures of the walking mechanism for mobile robotic system to be used on rough terrain. Methodology. While carrying out the investigations, the structural and kinematic synthesis of the eight-bar hinge-lever walking mechanism has been performed using the well-known methods of the Theory of Machines and Mechanisms, in particular, the method of closed vector loops. In order to conduct experimental investigations and simulation of the mechanism motion, the applied software SolidWorks and MapleSim has been used. Findings (results). The structure and geometrical parameters of the eight-bar walking mechanism have been synthesized with the aim to ensure the required trajectory and kinematic characteristics of the supporting foot motion. Originality (novelty). The analytical dependencies describing the trajectory of each hinge of the analysed walking mechanism have been derived and the kinematic optimization synthesis problem has been solved. This allowed to substantiate of the mechanism’s geometrical parameters and to analyse its kinematic characteristics. Practical value. The proposed structure of the walking mechanism can be effectively used in various mobile robotic systems and in transporting and technological machines in order to ensure the possibility of their use on rough terrain where there is no ability to use wheeled and caterpillar drives. Scopes of further investigations. While carrying out further research, it is necessary to analyse the influence of the weight coefficients on the solution of the optimization problem, as well as to take into account the necessity of changing the step length and the foot lifting height during the process of walking according to the surface obstacles sizes.