- Wind Energy, Wind turbine, Active Transport (Cycling, walking & public transportation), Bipedal Walking, Robotics, Mobile Robotics, and 28 moreMechatronics & Robotics, Autonomous Robotics, Humanoid Robotics, Mechatronics and Robotics, Rehabilitation robotics, Educational Robotics, Mecatronics and Robotics, Medical Robotics, Underwater Robotics, Automation and robotics in Construction, Aerial Robotics, Biologically Inspired Robotics, Robotics and Mechatronics, Swarm Robotics,Industrial Robotics, Mobile Robotics,Bionics, Assistive Robotics, Automation, Machine vision, Artificial Intelligence, PLC, Control Systems, Autonomous Mobile Robots, Robots, Autonomous Robots, Legged Robots, Mobile Robots, Parallel Robots, Humanoid robots, Variable Stiffness Robots, Service Robots, Industrial Robots, KUKA Robots, Rehabilitation Robots, Humanoid Robots, Motion Generation and Control of Underactuated Systems, and Intelligent robotsedit
- Head of Department of Technical Mechanics and Engineering Graphics of Lviv Polytechnic National University (Lviv, Ukraine).edit
Research Interests:
Wheeled vibration-driven platforms have taken a prominent place among mobile robotic systems. Numerous investigations are dedicated to developing novel designs and analyzing mobile vibratory robot's dynamic behavior and performance. The... more
Wheeled vibration-driven platforms have taken a prominent place among mobile robotic systems. Numerous investigations are dedicated to developing novel designs and analyzing mobile vibratory robot's dynamic behavior and performance. The present paper is dedicated to the locomotion conditions of a wheeled platform equipped with the V-shaped spring-damper suspension and driven by the centrifugal vibration exciter (unbalanced rotor). This research methodology contains mathematical and numerical modeling, computer simulation, and full-scale experimental investigations on the dynamic behavior of the semi-definite single-mass vibration-driven system at the specified design parameters and excitation conditions. The obtained results present the time dependencies of the system's motion trajectory, horizontal and vertical velocities, and accelerations. The main scientific novelty of the performed investigations is the development of the generalized mathematical model that describes the locomotion conditions of the wheeled vibration-driven system for the specified design parameters of a V-shaped spring-damper suspension. The results of this research can be practically implemented while defining the optimal geometrical, inertial, damping, and excitation parameters of suspensions of various mobile vibration-driven locomotion systems, particularly those intended for cleaning and inspecting the internal surfaces of pipelines, tubes, and vessels.
Research Interests:
In this article, an automated line for cutting splines in ring-shaped workpieces is developed. The design of the line is described, which includes a CNC machine for cutting splines, a mobile industrial robot with a rectangular coordinate... more
In this article, an automated line for cutting splines in ring-shaped workpieces is developed. The design of the line is described, which includes a CNC machine for cutting splines, a mobile industrial robot with a rectangular coordinate system, various types of conveyors, and roller conveyors for transporting workpieces. The basis of the line is a CNC machine tool and a mobile industrial robot equipped with a system of drives and gears. The principles of operation and design features of the robot are detailed, including the system of drives and gears that ensure its mobility and functionality. A numerical analysis of the kinematics of the manipulator was carried out, as well as simulation modeling using software to evaluate the efficiency of the proposed system.
Research Interests:
The diagnostics of sieving screens and other vibratory machines is the most complicated scientific and engineering task due to a permanent periodical (technological) excitation and stochastic impulsive (non-Gaussian) disturbances from the... more
The diagnostics of sieving screens and other vibratory machines is the most complicated scientific and engineering task due to a permanent periodical (technological) excitation and stochastic impulsive (non-Gaussian) disturbances from the falling pieces of bulk materials, which directly influence the reliability of damage alarming in the condition monitoring systems. In the design of sieving screens, the most critical parts are supporting springs, inertial vibrators with special types of bearings, and bolted joints, which are subjected to severe cyclic fatigue and experience hardly detected loosening. All these elements require frequently scheduled inspections. To provide prevention of abrupt failures and reduction of maintenance costs with simultaneous energy saving and output product quality, a new approach is developed, which is based on multi-body nonlinear dynamical models and advanced methods of signal processing with an emphasis on transient periods of
Research Interests:
This study delves into the comprehensive examination of an overhead crane's construction, focusing on its frame, columns, and beams, while considering factors such as strength, stability, and stiffness. Through an in-depth review in the... more
This study delves into the comprehensive examination of an overhead crane's construction, focusing on its frame, columns, and beams, while considering factors such as strength, stability, and stiffness. Through an in-depth review in the design domain, it is proposed a specific structural configuration for the overhead crane. This design comprises six vertical columns supporting two longitudinal beams equipped with tracks for the trolley's longitudinal movement. Additionally, cross beams featuring winches are mounted on the trolley's cross beams. The crane's columns are securely mounted on a foundation, and struts are employed to attach the crane to the load-bearing wall of the building, ensuring longitudinal and transverse stability. The inclusion of cross truss structures with longitudinal struts further enhances the crane's overall stiffness, with additional vertical struts provided to augment the left side's longitudinal stiffness. The study also encompasses the analysis of the crane frame's construction, complete with the development of an appropriate calculation scheme and the computation of static reactions in supports. Further calculations involve determining the cross-sections of vertical columns and longitudinal beams, ensuring compliance with strength, rigidity, and stability requirements. The selected cross-section for the columns, in the form of a square profile pipe (l00x l00x3 mm), is meticulously chosen to meet these criteria. Simulation modeling of load scenarios on the crane frame elements in SolidWorks software validates their strength, stiffness, and stability. Mathematical models and calculations provided the optimal parameters and characteristics of each crane component, ensuring a superior level of safety and operational efficiency. These results provide valuable insights for future research in mechanical engineering and the design of industrial mechanisms.
Research Interests:
The effect of surface modification by oxygen and nitrogen from a controlled gaseous medium on the fatigue life under cyclic and long-term static loading of Zr-1%Nb alloy thin-sheet samples was studied. Positive effect of gas nitriding and... more
The effect of surface modification by oxygen and nitrogen from a controlled gaseous medium on the fatigue life under cyclic and long-term static loading of Zr-1%Nb alloy thin-sheet samples was studied. Positive effect of gas nitriding and thermal oxidation on mechanical and fatigue performance under cyclic and static loading of Zr-1%Nb alloy was shown: under pure bendingby ~23%; under cyclic stretchingby ~25% and under long-term static loading in air with exposure of 100 h at room temperatureby ~12% and at a temperature of 380 °С by ~6%. It was established that oxidation and nitriding effectively improve fatigue life and fracture stresses under long-term static loading of Zr-1%Nb alloy thin-sheet.
Research Interests:
The planetary-type vibration exciters are relatively novel and prospective types of actuators for various vibratory technological equipment. Numerous research papers substantiated the possibilities of implementing such exciters for... more
The planetary-type vibration exciters are relatively novel and prospective types of actuators for various vibratory technological equipment. Numerous research papers substantiated the possibilities of implementing such exciters for generating circular, elliptical, and rectilinear oscillations of the working members of different technological machines. The present research continues the authors' previous investigations dedicated to kinematics and dynamics of planetarytype vibration exciters and is focused on the analysis of forces, moments, and torques acting upon the elements of the corresponding actuating mechanisms. The research methodology contains the development of the simplified dynamic diagrams of two different designs of planetary-type mechanisms, derivation of the analytical expressions describing force parameters of the considered mechanical systems, performing the mathematical modeling and computer simulation of the mechanism motion in order to analyze the corresponding forces, moments, and torques. The obtained results present the time dependencies of the mentioned force parameters under different operational conditions and design parameters of the planetary-type mechanism. The major scientific novelty of the paper consists in defining the minimal required torque of the motor needed to be applied for driving the mechanism at different conditions. The research outcomes can be effectively used by engineers while developing new and improving existent vibratory technological machines equipped with the considered planetary-type vibration exciter.
Research Interests:
In scope of this article was developed method for detecting how the loading conditions of a screw press impact its drive's power consumption with the help of sensors and Arduino microcontroller. Since sunflower oil is one of the most... more
In scope of this article was developed method for detecting how the loading conditions of a screw press impact its drive's power consumption with the help of sensors and Arduino microcontroller. Since sunflower oil is one of the most common products of the food industry, the problem of efficiency of the seeds processing is an urgent one aimed at improving the performance of presses and decreasing the consumed power of their drives. The research employed scientific methods such as analysis, modeling, experiment, measurement and observation to create valid outcomes. The simplified schematic diagram of the screw press electromechanical system is developed based on its full-scale experimental prototype LiangTai LTP200. The measurements are performed with the help of the current and voltage sensors SCT-013-030 and ZMPT101B connected to the Arduino microcontroller. Study defines the loading levels of the pressing chamber as the ratio between the volume of the sunflower seeds loaded into the chamber and the total active volume of the chamber. The volume of the seeds is defined with the help of the measuring sleeve (volumetric flask) and is additionally calculated as the product of their mass by the corresponding bulk density. The mass is measured by the electronic scales KYA800077. The study tested consumed current at no-load conditions and at the loading levels of 33 %, 67 %, 100 %. The experiments conducted for the case of the sunflower seeds processing confirm the proportional increase in the consumed current of the screw press drive during the increase of the loading level of the pressing chamber. This allows improving the corresponding control algorithms aimed at optimizing the power consumption of the press drive. The significance of utilizing the Arduino microcontroller in this context is profound. This research has set the ground for the possible application of these methods in other oil-containing seeds processing. In addition, the experimental data can be used for monitoring and preventing the overloading conditions that can cause the breakdown of the press drive elements.
Research Interests:
Over the last few years, vegetable oils have become an integral food part of the vast majority of the planet's population. In order to preserve all valuable substances in vegetable oils, it is necessary to correctly choose the rational... more
Over the last few years, vegetable oils have become an integral food part of the vast majority of the planet's population. In order to preserve all valuable substances in vegetable oils, it is necessary to correctly choose the rational parameters of the oil extraction process. The main purpose of this research is to analyze the influence of various factors on the quantitative and force parameters of the oil extraction process and substantiate the prospective directions of automation of the screw press operation. The research methodology is focused on mathematical modeling of the pressing process and analyzing the stress-strain characteristics of the pressed material (sunflower seeds and cake) at different operational conditions and design parameters of the screw. The obtained results are presented in the form of analytical dependencies of the press output (productivity), extraction pressure, and consumed power on the screw rotational frequency and screw flight pitch. The corresponding graphical dependencies are plotted for visualization of the obtained results with reference to the existing household press LiangTai LTP200. The conclusions on the prospective directions of automation of the screw press operation are drawn. Particularly, the necessity of regulating the temperature of the pressing chamber and extracted oil by means of applying additional heating and cooling devices is substantiated. As well, the sensors that monitor the mass of the extracted oil and the consumed current of the electric motor are proposed to be installed. The rotational frequency of the screw is suggested to be adjustable by applying the frequency converter controlled by the additional electronic system based on the data obtained from the sensors. The paper may be used by scientists and engineers working on designing screw presses and improvement of their performance characteristics. Further investigations on the subject of this research may be focused on experimental verification of the qualitative and quantitative parameters of the extracted oil depending on the type of the seeds or kernels to be pressed, and operational parameters of the press (screw rotation frequency, temperature of the pressing chamber, etc.).
Research Interests:
Vibration exciters are of most important units of any vibratory equipment defining its design peculiarities, operational features, functional purpose, and performance characteristics. Among a great variety of vibration exciters, the... more
Vibration exciters are of most important units of any vibratory equipment defining its design peculiarities, operational features, functional purpose, and performance characteristics. Among a great variety of vibration exciters, the unbalanced rotors are of the most widely used. The present research considers the possibilities of providing specific motion trajectories of the vibratory machines' working members with the help of the planetary-type vibration exciter. The methodology of this study is divided into two main stages: deriving motion equations of an unbalanced mass located on a planet gear and analyzing the possibilities of generating rectilinear, elliptical, and circular motion paths by choosing the appropriate geometrical parameters of the planetary gear train. The results of the performed kinematic analysis are presented in the form of the unbalanced mass trajectories, velocities, and accelerations at different design parameters of the planetary-type mechanism. The main scientific novelty of the present study is substantiating the possibilities of using the single-degree-of-freedom planetary-type mechanism for generating the controllable motion trajectories of the unbalanced mass of an inertial vibration exciter. The obtained results can be practically implemented while developing novel adjustable drives for various vibratory equipment, particularly compactors, sieves, screens, and conveyors.
Research Interests:
Automation and robotization of various production and technological processes in many industries is one of the leading trends in the development of modern society. Industrial robots have recently become quite widespread, and it is almost... more
Automation and robotization of various production and technological processes in many industries is one of the leading trends in the development of modern society. Industrial robots have recently become quite widespread, and it is almost impossible to imagine any modern production in the fields of mechanical engineering (machine building), instrumentation, pharmaceuticals, food, chemical industries, etc., without robotic complexes. Over the past few decades, another area of robotics has emerged: autonomous mobile robots. It combines research in mechanics, electronics, and computer technologies, including artificial intelligence. Among the most common applications of autonomous mobile robots are the performance of various technological operations in places that are dangerous to human life (radiation, biological or chemical contamination) or uninhabitable (space, sea depths, volcanic craters, etc.). Mobile robots have also proven themselves in rescue operations during cataclysms and natural disasters, antiterrorist operations, military operations, mine clearance, etc. Given the urgency of the issue of mobile robotics development, this article proposes a new design of an autonomous robotic complex built on the basis of a tracked chassis and equipped with a SCARA-type manipulator. The main task of the developed robot is to perform various technological operations in places where human presence is dangerous or impossible, in particular, when performing demining tasks. In the course of the research, the kinematics of the manipulator was analyzed in detail to determine its working area, and the kinematic parameters of the tracked chassis were experimentally tested while it was moving over rough terrain. The obtained results can be used to further improve the design and control system of the robot and manipulator and in the process of determining the specific technological tasks that will be assigned to this robotic platform.
Research Interests:
The paper studies the dynamic behavior of the vibratory sieving conveyor equipped with the twin crank-slider excitation mechanism. The main purpose of this research consists in substantiating the possibilities of implementing the improved... more
The paper studies the dynamic behavior of the vibratory sieving conveyor equipped with the twin crank-slider excitation mechanism. The main purpose of this research consists in substantiating the possibilities of implementing the improved drive for providing the controllable vibration parameters of the working member (conveying tray, sieve, etc.) in accordance with the specific technological requirements set for different materials to be sieved and conveyed. In order to reach the goal set above, the following objectives are established: analyzing the design peculiarities of the vibratory sieving conveyor; deriving the mathematical model describing the conveyor's oscillatory system dynamic behavior; studying the system kinematic, dynamic, and power characteristics. The system motion is described using the Lagranged'Alembert principle, and the numerical modeling is carried out in the Mathematica software with the help of the Runge-Kutta methods. The influence of the vibratory system's geometrical parameters on the motion conditions of the conveyor's working member (conveying tray and sieve) is analyzed.
Research Interests:
Problem statement. The production of oil crops and products of their processing has significantly increased in recent decades. Vegetable oils are mainly produced by pressing oilcontaining raw materials using screw-type presses. During the... more
Problem statement. The production of oil crops and products of their processing has significantly increased in recent decades. Vegetable oils are mainly produced by pressing oilcontaining raw materials using screw-type presses. During the press operation, there is a need to adapt its working regimes to the seeds of individual crops while ensuring the possibility of adjusting certain operation parameters that are set technologically. Purpose. The main purpose of the present research consists in analyzing the design peculiarities of the enhanced screw-type press for extracting oil from different oil crops and oil-containing raw materials. In addition, there is set a goal of analyzing the screw for stresses and strains. Methodology. The finite-element method integrated into the SolidWorks software is used for analyzing the stress-strain state of the pressing screw at the hardest loading conditions. Results. The obtained results are presented in the form of the stresses and strain distribution along the screw shaft and flights. The corresponding 3D and 2D stress-strain diagrams are plotted and thoroughly analyzed. Originality. The zones of the screw overloading are defined and the possibilities of providing the screw reliability and durability are considered. Practical value. The proposed design of the screw-type press can be implemented in practice for performing pressing operations while extracting oil from different oil crops and oil-containing raw materials. The results of testing the screw stress-strain state can be used for predicting the screw reliability and durability at the stage of its designing. Scopes of further investigations. Further investigations on the topic of the present research can be focused on deriving the mathematical model describing the force and pressure conditions applied to the screw shaft and flights.
Research Interests:
One of the most intensively developing fields of vibratory technologies is focused on improving the design and operational parameters of the excitation mechanisms and drives. The present research is devoted to a novel twin crank-type... more
One of the most intensively developing fields of vibratory technologies is focused on improving the design and operational parameters of the excitation mechanisms and drives. The present research is devoted to a novel twin crank-type exciter driven by a permanent-magnet direct-current motor. The research methodology consists of mathematical modeling and computer simulation of the dynamic behavior of a single-mass oscillatory system equipped with the proposed exciter. The obtained results substantiate the possibilities of generating rectilinear, elliptical, and circular oscillations of the working member by applying the corresponding design changes of the transformable vibration exciter. The major scientific novelty of the carried-out investigations consists in determining the influence of specific design parameters of the exciter on the trajectory (path) of the working member motion. The obtained results can have a significant practical value while designing new and improving existent drives of various vibratory equipment (screens, conveyors, sieves, compactors, technological (lapping, polishing) machines, etc.).
Research Interests:
The thorough analysis of the technological processes used to purify the wastewater from food and processing enterprises (bakery, brewery, coffee, sugar, beverage, etc.) has established that among the most effective processes are the... more
The thorough analysis of the technological processes used to purify the wastewater from food and processing enterprises (bakery, brewery, coffee, sugar, beverage, etc.) has established that among the most effective processes are the physical ones. From the wide range of physical methods of wastewater treatment, the cavitation treatment methods are of the most promising from the viewpoint of industrial application. The present paper considers an enhanced design of a low-frequency vibratory cavitation device with an electromagnetic drive. Unlike many other cavitators of ultrasonic or hydrodynamic action, the proposed vibratory cavitation device can treat the wastewater in a continuous liquid flow, has no rotating components and parts, which significantly increases its reliability and durability, and can be equipped with changeable concaves (grates) depending on the pollutants to be purified. The research methodology consists of two main stages: development of the dynamic diagram and mathematical model of the considered cavitation device; numerical simulation of the working members vibrations at different operational conditions. The obtained results are presented in the form of time dependencies of the concaves (grates) displacements, speeds, and accelerations under various viscous friction and excitation parameters. The main scientific novelty of this study, in addition to the improved design of the vibratory cavitator, is considering the influence of the changeable electromagnetic excitation force and viscous friction force on the dynamic behavior of the concaves (grates). Further investigations on the present topic can be focused on the practical implementation and experimental testing of the proposed cavitation device in order to increase the water purification degree.
Research Interests:
Data on improving the characteristics of fuel rods made of the Zr-1%Nb alloy by modifying the near-surface layer are presented. For modification, thermochemical treatment (TCT) was used in a controlled gas environment based on the diffuse... more
Data on improving the characteristics of fuel rods made of the Zr-1%Nb alloy by modifying the near-surface layer are presented. For modification, thermochemical treatment (TCT) was used in a controlled gas environment based on the diffuse oxygen saturation of the near-surface layer. It was established that TCT does not reduce the mechanical characteristics of the Zr-1%Nb alloy compared to ones in the initial state, but in some cases increases its. The influence of different regimes of TCT on the features of oxidation in air and hydrogen saturation of the Zr-1%Nb alloy was considered. It was shown that the optimal regime of TCT provides a reduction in weight gain during oxidation at a temperature of 550 °C in the air for 100 h, and prevents saturation with hydrogen of Zr-1%Nb alloy. It was concluded that the TCT is a promising method for improving the performance of Zr-1%Nb alloy fuel rods.
Research Interests:
Vibratory technological machines are widely implemented in various branches of industrial, manufacturing, and mechanical engineering. Particularly, such equipment can be effectively used while conducting finishing technological... more
Vibratory technological machines are widely implemented in various branches of industrial, manufacturing, and mechanical engineering. Particularly, such equipment can be effectively used while conducting finishing technological operations, e.g., lapping and polishing of different machine parts. The present paper is focused on developing the control system for the novel design of a vibratory lapping-polishing machine driven by six solenoids. The main purpose consists in providing the circular trajectory of the working member and ensuring the machining uniformity at each point of the surface being treated. In such a case, it is proposed to actuate the solenoids with the specified time shift depending on the forced frequency needed to be provided. The duration of the signal actuating the solenoid is equal to one-sixth of the total duration of a cycle (period) of the working body oscillation. The corresponding control approach is developed and simulated in the Tinkercad application, while the control system is designed based on the Arduino software and hardware. In addition, the laboratory prototype of the vibratory lappingpolishing machine and the corresponding control system are implemented in practice. The performed experimental investigations substantiate the possibilities of generating the circular oscillations of the working member of the vibratory lapping-polishing machine. The obtained results may be useful for engineers and technologists dealing with control systems of various vibratory technological equipment based on electromagnetic and solenoid-type drives.
Research Interests:
Vibratory machines are widely used for monitoring and cleaning various tubes, pipelines, intestines, vessels, etc. The problems of ensuring the prescribed dynamic characteristics of such equipment and simultaneous optimizing the power... more
Vibratory machines are widely used for monitoring and cleaning various tubes, pipelines, intestines, vessels, etc. The problems of ensuring the prescribed dynamic characteristics of such equipment and simultaneous optimizing the power consumption are currently being solved by numerous researchers. The main purpose of this study is to investigate the locomotion characteristics of the novel vibration-driven design of the pipeline inspecting and cleaning robot actuated by an electromagnetic exciter and equipped with the size-adapting and self-locking mechanisms. The research methodology consists of four main stages: an overview of the enhanced robot design; constructing its dynamic diagram and deriving the differential equations of motion; performing the numerical modeling with the help of the Mathematica software and studying the robot's kinematic characteristics; conducting virtual experiments by computer simulation of the robot motion in the SolidWorks software. The research results present the time dependencies of the robot's displacement, speed, and acceleration at different working regimes (excitation forces, disturbing frequencies, etc.). The novelty of the performed investigations consists in substantiating the efficient locomotion conditions of the enhanced vibration-driven in-pipe robot. Further investigations can be focused on developing the full-scale laboratory prototype of the robot and conducting experimental studies. The obtained research results can be interesting for engineers and scientists who deal with similar vibration-driven pipeline robots.
Research Interests:
Vibratory equipment is widely used in various fields of mechanical, industrial, and manufacturing engineering. Particularly, such machines can be effectively implemented while carrying out finishing technological operations, e.g.,... more
Vibratory equipment is widely used in various fields of mechanical, industrial, and manufacturing engineering. Particularly, such machines can be effectively implemented while carrying out finishing technological operations, e.g., glazing, polishing, and lapping of different machine parts. The present paper is focused on developing the control system for the novel design of a vibratory lappingpolishing machine driven by six solenoids. The main purpose consists in providing the circular trajectory of the working member and ensuring the machining uniformity at each point of the surface being treated. In such a case, it is proposed to actuate the solenoids with the specified time shift depending on the forced frequency needed to be provided. The duration of the signal actuating the solenoid is equal to one-sixth of the total duration of a cycle (period) of the working body oscillation. The corresponding control approach is developed and simulated in the Tinkercad application, while the control system is designed based on the Arduino hardware and software. In addition, the laboratory prototype of the vibratory lapping-polishing machine and the corresponding control system are implemented in practice. The performed laboratory studies and experimental tests substantiate the possibilities of generating the circular oscillations of the working member of the vibration-driven lapping-polishing machine. The obtained results may be useful for engineers and technologists dealing with control systems of various vibratory technological equipment based on electromagnetic and solenoid-type drives.
Research Interests:
The paper is focused on the computer simulation and experimental testing of the improved vibratory screening conveyor equipped with the controllable crank-type exciter characterized by the changeable forced frequency and eccentricity. The... more
The paper is focused on the computer simulation and experimental testing of the improved vibratory screening conveyor equipped with the controllable crank-type exciter characterized by the changeable forced frequency and eccentricity. The main scientific novelty of this research is implementing the three-mass discrete-continuous oscillatory system, whose disturbing body is designed in the form of a flat spring characterized by both inertial and stiffness parameters. The proposed excitation method and the novel spring system design can be effectively used while developing new vibratory technological equipment in various industries, e.g., chemical, mining, pharmaceutical, agricultural, etc. The 3D-model of the vibratory screening conveyor is designed in the SolidWorks software; the strength analysis of the conveyor's springs is performed using the finite-element method integrated into the SolidWorks Simulation application; the control system of the experimental prototype is developed using Arduino software and hardware; the experimental data is processed with the help of the Serial Port Plotter software. The main results of the theoretical research present the specific geometrical parameters of the conveyor's flat springs ensuring its operation under energy-efficient near-resonance conditions and time dependencies. The results of experimental investigations allow for determining the dynamic response of the conveyor's oscillatory system at different forced frequencies, which correspond to the eigenfrequencies of the disturbing spring and the intermediate springs. The obtained results allow for substantiating the optimal operating conditions of the vibratory screening conveyor.
Research Interests:
Vibration exciters are of most important units of any vibratory equipment defining its design peculiarities, operational features, functional purpose, and performance characteristics. Among a great variety of vibration exciters, the... more
Vibration exciters are of most important units of any vibratory equipment defining its design peculiarities, operational features, functional purpose, and performance characteristics. Among a great variety of vibration exciters, the unbalanced rotors are of the most widely used. The present research considers the possibilities of providing specific motion trajectories of the vibratory machines' working members with the help of the planetary-type vibration exciter. The methodology of this study is divided into two main stages: deriving motion equations of an unbalanced mass located on a planet gear and analyzing the possibilities of generating rectilinear, elliptical, and circular motion paths by choosing the appropriate geometrical parameters of the planetary gear train. The results of the performed kinematic analysis are presented in the form of the unbalanced mass trajectories, velocities, and accelerations at different design parameters of the planetary-type mechanism. The main scientific novelty of the present study is substantiating the possibilities of using the single-degree-of-freedom planetary-type mechanism for generating the controllable motion trajectories of the unbalanced mass of an inertial vibration exciter. The obtained results can be practically implemented while developing novel adjustable drives for various vibratory equipment, particularly compactors, sieves, screens, and conveyors.
Research Interests:
Vibratory technological machines are widely implemented in various branches of industrial, manufacturing, and mechanical engineering. Particularly, such equipment can be effectively used while conducting finishing technological... more
Vibratory technological machines are widely implemented in various branches of industrial, manufacturing, and mechanical engineering. Particularly, such equipment can be effectively used while conducting finishing technological operations, e.g., lapping and polishing of different machine parts. The present paper is focused on developing the control system for the novel design of a vibratory lapping-polishing machine driven by six solenoids. The main purpose consists in providing the circular trajectory of the working member and ensuring the machining uniformity at each point of the surface being treated. In such a case, it is proposed to actuate the solenoids with the specified time shift depending on the forced frequency needed to be provided. The duration of the signal actuating the solenoid is equal to one-sixth of the total duration of a cycle (period) of the working body oscillation. The corresponding control approach is developed and simulated in the Tinkercad application, while the control system is designed based on the Arduino software and hardware. In addition, the laboratory prototype of the vibratory lappingpolishing machine and the corresponding control system are implemented in practice. The performed experimental investigations substantiate the possibilities of generating the circular oscillations of the working member of the vibratory lapping-polishing machine. The obtained results may be useful for engineers and technologists dealing with control systems of various vibratory technological equipment based on electromagnetic and solenoid-type drives.
Research Interests:
Vibratory machines are widely used for monitoring and cleaning various tubes, pipelines, intestines, vessels, etc. The problems of ensuring the prescribed dynamic characteristics of such equipment and simultaneous optimizing the power... more
Vibratory machines are widely used for monitoring and cleaning various tubes, pipelines, intestines, vessels, etc. The problems of ensuring the prescribed dynamic characteristics of such equipment and simultaneous optimizing the power consumption are currently being solved by numerous researchers. The main purpose of this study is to investigate the locomotion characteristics of the novel vibration-driven design of the pipeline inspecting and cleaning robot actuated by an electromagnetic exciter and equipped with the size-adapting and self-locking mechanisms. The research methodology consists of four main stages: an overview of the enhanced robot design; constructing its dynamic diagram and deriving the differential equations of motion; performing the numerical modeling with the help of the Mathematica software and studying the robot's kinematic characteristics; conducting virtual experiments by computer simulation of the robot motion in the SolidWorks software. The research results present the time dependencies of the robot's displacement, speed, and acceleration at different working regimes (excitation forces, disturbing frequencies, etc.). The novelty of the performed investigations consists in substantiating the efficient locomotion conditions of the enhanced vibration-driven in-pipe robot. Further investigations can be focused on developing the full-scale laboratory prototype of the robot and conducting experimental studies. The obtained research results can be interesting for engineers and scientists who deal with similar vibration-driven pipeline robots.
Research Interests:
Розглянуто перспективи використання крокуючих рушіїв у мобільних робото-механічних системах. Проаналізовано конструктивніх і функціональні особливості пантографних механізмів крокування та визначено шляхи підвищення їхньої... more
Розглянуто перспективи використання крокуючих рушіїв у мобільних робото-механічних системах. Проаналізовано конструктивніх і функціональні особливості пантографних механізмів крокування та визначено шляхи підвищення їхньої експлуа-таційної ефективності. Розглянуто питання кінематики пантографного механізму та виведено рівняння руху опорної стопи. Синтезовано геометричні параметри механізму крокування з метою забезпечення заданої траєкторії руху опорної стопи. Проведено оптимізацію отриманих геометричних параметрів за критеріями стабілізації горизон-тальної швидкості стопи у фазі контакту з опорною поверхнею та максимізації довжини кроку відносно довжин ланок механізму. Розглянуто результати кінематичного аналізу руху опорної стопи та обґрунтовано перспективи подальших досліджень за цією тематикою.
The prospects of usage of walking drives in mobile robotic systems are overviewed. The analysis of structural and functional features of pantograph walking mechanisms is carried out and the ways of improvement of their operational efficiency are defined. The problems of kinematics of pantograph mechanism are considered and the equation of the supporting foot motion is deduced. The geometrical parameters of the walking mechanism are determined taking into account the necessity to ensure the prescribed path of the supporting foot. The optimization of obtained geometrical parameters in accordance with the criterions of foot horizontal speed stabilization in the phase of contact with the supporting surface and of maximization of the step length in comparison with the mechanism links lengths is carried out. The obtained results of kinematic analysis of the supporting foot motion are considered and the prospects of further investigations on the presented subject are substantiated.
The prospects of usage of walking drives in mobile robotic systems are overviewed. The analysis of structural and functional features of pantograph walking mechanisms is carried out and the ways of improvement of their operational efficiency are defined. The problems of kinematics of pantograph mechanism are considered and the equation of the supporting foot motion is deduced. The geometrical parameters of the walking mechanism are determined taking into account the necessity to ensure the prescribed path of the supporting foot. The optimization of obtained geometrical parameters in accordance with the criterions of foot horizontal speed stabilization in the phase of contact with the supporting surface and of maximization of the step length in comparison with the mechanism links lengths is carried out. The obtained results of kinematic analysis of the supporting foot motion are considered and the prospects of further investigations on the presented subject are substantiated.
Розглянуто конструктивні та функціональні особливості вібровикінчувальних верстатів. Побудовано розрахункові схеми коливних систем верстата у режимі правки “притир по притиру та в процесі притирання деталей. Сформовано відповідні... more
Розглянуто конструктивні та функціональні особливості вібровикінчувальних верстатів. Побудовано розрахункові схеми коливних систем верстата у режимі правки “притир по притиру та в процесі притирання деталей. Сформовано відповідні математичні моделі руху три- і чотиримасової коливних систем верстата. Виведено аналітичні залежності амплітудних значень відхилень коливних мас.
Розглянуто перспективи використання крокуючих рушіїв у мобільних робото-механічних системах. Синтезовано структуру кривошипно-повзунного механізму з метою забезпечення заданої траєкторії руху опорної стопи. Розглянуто питання кінематики... more
Розглянуто перспективи використання крокуючих рушіїв у мобільних робото-механічних системах. Синтезовано структуру кривошипно-повзунного механізму з метою забезпечення заданої траєкторії руху опорної стопи. Розглянуто питання кінематики кривошипно-повзунного механізму та виведено рівняння руху стопи. Задаючи значення довжини кроку і висоти підйому стопи, синтезовано геометричні параметри механізму крокування. Розглянуто результати кінематичного аналізу руху опорної стопи та обґрунтовано перспективи подальших досліджень за цією тематикою.
The prospects of usage of walking drives in mobile robotic systems are overviewed. The structure of crank-and-slider mechanism was synthesized on order to ensure the prescribed motion path of the supporting foot. The problems of kinematics of crank-and-slider mechanism are considered and the equations of the supporting foot motion are deduced. The geometrical parameters of the walking mechanism are determined taking into account the advanced values of step length and foot raising hight. The obtained results of kinematic analysis of the supporting foot motion are considered and the prospects of further investigations on the presented subject are substantiated.
The prospects of usage of walking drives in mobile robotic systems are overviewed. The structure of crank-and-slider mechanism was synthesized on order to ensure the prescribed motion path of the supporting foot. The problems of kinematics of crank-and-slider mechanism are considered and the equations of the supporting foot motion are deduced. The geometrical parameters of the walking mechanism are determined taking into account the advanced values of step length and foot raising hight. The obtained results of kinematic analysis of the supporting foot motion are considered and the prospects of further investigations on the presented subject are substantiated.
Обґрунтована доцільність подальшого розвитку горизонтально-осьових вітроуста-новок з лопатями вітрильного типу. Проведено аналіз їх конструктивних особливостей та визначено шляхи їх удосконалення та підвищення експлуатаційної... more
Обґрунтована доцільність подальшого розвитку горизонтально-осьових вітроуста-новок з лопатями вітрильного типу. Проведено аналіз їх конструктивних особливостей та визначено шляхи їх удосконалення та підвищення експлуатаційної ефективності. Розглянуто конструктивні та функціональні особливості окремих елементів і систем горизонтально-осьової вітроустановки. Проаналізовано системи орієнтації, регулювання потужності та протиштормового захисту вітроустановок з лопатями вітрильного типу. Обґрунтовано шляхи подальших науково-прикладних досліджень за цією тематикою.
The expediency of the further development of horizontal-axis wind turbines with blades of sail type is substantiated in the article. The analysis of design features is conducted and the ways of their improvement and increasing of operational efficiency are defined. Structural and functional features of separate elements and systems of horizontal-axis wind turbine are considered. The systems of orientation, power control and anti-storm protection of wind turbines with blades of sail type are analyzed. The ways of further scientific and applied research on the presented subject are substantiated.
The expediency of the further development of horizontal-axis wind turbines with blades of sail type is substantiated in the article. The analysis of design features is conducted and the ways of their improvement and increasing of operational efficiency are defined. Structural and functional features of separate elements and systems of horizontal-axis wind turbine are considered. The systems of orientation, power control and anti-storm protection of wind turbines with blades of sail type are analyzed. The ways of further scientific and applied research on the presented subject are substantiated.
Розглянуто найпростішу схему циклового (важільного) механізму крокування. Запропоновано принципову схему крокуючого модуля з двома цикловими рушіями та проаналізовано його особливості функціонування. Проведено структурно-кінематичний... more
Розглянуто найпростішу схему циклового (важільного) механізму крокування. Запропоновано принципову схему крокуючого модуля з двома цикловими рушіями та проаналізовано його особливості функціонування. Проведено структурно-кінематичний аналіз механізму крокування. На основі вихідних даних (довжини кроку та висоти піднімання опорної стопи) встановлено геометричні параметри циклових (важільних) рушіїв та запропоновано конструктивне виконання крокуючого модуля. Ключові слова: крокуючий модуль, цикловий рушій, механізм крокування.
The simplest scheme of cyclic (lever) walking mechanism is considered. Principal scheme of the walking module with two cyclic drives is propounded and its operating features are analyzed. Structural and kinematic analysis of the walking mechanism is conducted. Based on output data (step length and height of supporting foot lifting) geometric parameters of cyclic (lever) drives are calculated and the constructive realization of the walking module is propounded.
The simplest scheme of cyclic (lever) walking mechanism is considered. Principal scheme of the walking module with two cyclic drives is propounded and its operating features are analyzed. Structural and kinematic analysis of the walking mechanism is conducted. Based on output data (step length and height of supporting foot lifting) geometric parameters of cyclic (lever) drives are calculated and the constructive realization of the walking module is propounded.
Побудовано спрощену кінематичну схему механізму складання лопатей горизонтально-осьової вітроустановки із відцентровими тягарцями. На основі диференціальних рівнянь Лагранжа ІІ роду розроблено математичну модель аеромеханічної системи... more
Побудовано спрощену кінематичну схему механізму складання лопатей горизонтально-осьової вітроустановки із відцентровими тягарцями. На основі диференціальних рівнянь Лагранжа ІІ роду розроблено математичну модель аеромеханічної системи вітроустановки та запропоновано методику розрахунку інерційних і жорсткісних параметрів механізму складання лопатей з метою забезпечення початку процесу регулювання після досягнення вітроустановкою номінальної частоти обертання та збереження необхідної точності стабілізації кутової швидкості у всьому робочому діапазоні швидкостей вітру.
The simplified kinematics scheme of the mechanism of assembling a bladed horizontal-axis wind turbine with centrifugal weights is built. On the basis of Lagrange second order differential equations, the mathematical model of wind turbine aeromechanical system is developed and the computational technique of inertial and stiff parameters of the mechanism of blades folding is proposed. The aim is to provide the start of the regulation process when the wind turbine reach the nominal rotation frequency and to keep the necessary accuracy preservation of the angular velocity stabilization in the whole working range of wind speeds.
The simplified kinematics scheme of the mechanism of assembling a bladed horizontal-axis wind turbine with centrifugal weights is built. On the basis of Lagrange second order differential equations, the mathematical model of wind turbine aeromechanical system is developed and the computational technique of inertial and stiff parameters of the mechanism of blades folding is proposed. The aim is to provide the start of the regulation process when the wind turbine reach the nominal rotation frequency and to keep the necessary accuracy preservation of the angular velocity stabilization in the whole working range of wind speeds.
The analysis of operation of vibrating conveyers with nonparallel placement of flat springs is carried out. The motion of mechanical oscillating system is investigated. The structure of the supporting unit for flat springs fastening is... more
The analysis of operation of vibrating conveyers with nonparallel placement of flat springs is carried out. The motion of mechanical oscillating system is investigated. The structure of the supporting unit for flat springs fastening is propounded. This structure allows simplifying of setting-up of two-mass vibrating conveyers with the aim to ensure the effective operation. The models of conveyers with nonparallel placement of springs, providing the accurate calculations of rigidities and angles of flat springs inclinations, considerably simplify the structures of conveyers and their setting-up to ensure the prescribed angles of vibrations. The proposed structure of fastening of flat springs ends allows increasing of operation efficiency of the two-mass vibrating conveyer. Due to such setting-up of the equipment it is possible to compensate some of its theoretical and structural faults. On the basis of presented investigations, it is planned to develop the three-mass models of conveyers-separators with transporting of separated components in different directions.
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The analysis of structure diagrams of the two-mass tubular conveyer with two-cycle electromagnetic drive is carried out in the article. Two methods of designing of the elastic system are considered; calculation formulas for elastic system... more
The analysis of structure diagrams of the two-mass tubular conveyer with two-cycle electromagnetic drive is carried out in the article. Two methods of designing of the elastic system are considered; calculation formulas for elastic system computation are deduced according to different requirements for the operating parameters of conveyers; the comparative analysis of two types of elastic systems is conducted. The recommendations for designing the lengthy tubular vibrating conveyers are presented. According to the considered structural diagrams of the elastic system the models of the lengthy vibrating conveyers with the transporting distances 1,5...4 lm = are developed. On the basis of these models the lengthy vibrotransporting systems with the transporting distance 5...30 lm = were developed, manufactured and applied in industry. The considered systems ensures the transportation of loose materials (porcelain composition, sand etc.) with maximal speeds up to 800 mm/sec and productivities (for tubes with internal diameter 100 Dmm =) up to 30 tons per hour for. It is reasonable to use both considered schemes of elastic systems for development of vibrating tubular conveyers with electromagnetic drive. The conveyers may be designed in two modifications: overhead and supporting. The obtained dependencies allow optimization of the structure and considering the important technical parameters of conveyers (maximal permissible oscillations amplitude, springs stresses, productivity etc.) in the design phase.
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The operation of hopper devices, which are used in industry, civil engineering, agriculture and transport, is analyzed on the article. The external factors, which influence the process of charging, storing and discharging of loose cargo... more
The operation of hopper devices, which are used in industry, civil engineering, agriculture and transport, is analyzed on the article. The external factors, which influence the process of charging, storing and discharging of loose cargo (freights) from hopper tanks, are overviewed. The subject of research of presented paper is the improvement of mechanisms of fracturing of products hangs-up (bridges) in hoppers at the stage of designing and setting up of hopper devices. In order to solve the stated problem the schemes of bridges fracturing and the structures of devices for debarment of products bridging and their uniform outflow from the hopper tank are proposed. The proposed schemes are based on the principles used in development of vibratory machinery with mechanical, cam and electromagnetic vibratory principles of structures forming. For cam spring device of bridges fracturing the technique of calculation of stiffness of elastic system and of the necessary forces for performing of technological process of bridges fracturing is presented and the recommendations for choosing of the stiffness of the system of elastic elements are suggested. For the hoppers with spring and electromagnetic blocks of bridges fracturing and of metered (batched) feeding of products the structural diagrams of devices are presented and the recommendations for usage of various modifications of devices are suggested. The influence of parameters of flat spring elements on the efficiency of devices operation is overviewed. The structural diagrams of devices with one-cycle and two-cycle electromagnetic vibration exciters and the modifications of elastic systems are considered. the structural diagram of the production prototype of the hopper feeder is presented. The materials of the article, the proposed structural diagrams, the operation scheme of the hopper feeder and the derived analytical formulas may be used by designers, researchers and technologists while improving of existent and developing of new devices.
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The problem of substantiation of operational efficiency of vibratory separators designed on the basis of vibratory hopper feeders with electromagnetic vibrations exciters and with conic working bowls is considered in the article. The... more
The problem of substantiation of operational efficiency of vibratory separators designed on the basis of vibratory hopper feeders with electromagnetic vibrations exciters and with conic working bowls is considered in the article. The complex of factors influencing the accuracy and productiveness of separation of coins and disk-shaped products on two or more fractions is overviewed. New models of structures for the effective solution of separation problems are proposed. The design of a highly-efficient and high-performance separator with independent oscillations disturbance is described. The results of experimental investigations of vibratory transportation in elliptical modes of vibrations and of the study of separation efficiency are presented. The recommendations that developers and researchers of such devices may use are given.
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На основі виведених аналітичних залежностей для визначення коріолісових сил інерції, що виникають внаслідок обертання лопатей навколо трьох осей: вітроколеса (при взаємодії з повітряним потоком), башти (при зміні напрямку вітру) та лопаті... more
На основі виведених аналітичних залежностей для визначення коріолісових сил інерції, що виникають внаслідок обертання лопатей навколо трьох осей: вітроколеса (при взаємодії з повітряним потоком), башти (при зміні напрямку вітру) та лопаті (при зміні швидкості вітру), проаналізовано вплив кожної з них на елементарні ділянки лопатей. Подано відповідні графічні залежності та оцінено абсолютні величини коріолісових сил інерції в режимі розгону вітроколеса. Ключові слова: лопаті вітроколеса, коріолісові сили інерції, складний рух, повітряний потік, елементарні ділянки лопатей.
The problems of synthesis and substantiation of elasticity parameters of the resonant vibratory device with electromagnetic drive and one flat spring are considered. At first, the harmonic systems with oscillation frequencies of 50 Hz and... more
The problems of synthesis and substantiation of elasticity parameters of the resonant vibratory device with electromagnetic drive and one flat spring are considered. At first, the harmonic systems with oscillation frequencies of 50 Hz and 100 Hz were investigated. Then, various asymmetric piecewise linear characteristics of elasticity were carried into effect on one flat spring using auxiliary intermediary fixed cylindrical supports. Due to this, the corresponding vibro-impact operation modes were obtained. The resonant systems characterized by improved functioning efficiency were carried into effect using the new technique of optimization synthesis of elasticity parameters. The resonant systems being investigated were implemented in practice. The basic experimental investigations of their kinematic, dynamic and energetic parameters were carried out. The fundamental result of the investigation consists in confirmation of the improved dynamic efficiency of vibro-impact systems with pulsed electromagnetic excitation designed according to the new technique. The proposed systems may be used in technological processes of materials compaction and screening, of surface treatment of machine parts and in processes associated with nanotechnology.
Research Interests:
The problems of synthesis and substantiation of elasticity parameters of the resonant vibratory device with electromagnetic drive and one flat spring are considered. At first, the harmonic systems with oscillation frequencies of 50 Hz and... more
The problems of synthesis and substantiation of elasticity parameters of the resonant vibratory device with electromagnetic drive and one flat spring are considered. At first, the harmonic systems with oscillation frequencies of 50 Hz and 100 Hz were investigated. Then, various asymmetric piecewise linear characteristics of elasticity were carried into effect on one flat spring using auxiliary intermediary fixed cylindrical supports. Due to this, the corresponding vibro-impact operation modes were obtained. The resonant systems characterized by improved functioning efficiency were carried into effect using the new technique of optimization synthesis of elasticity parameters. The resonant systems being investigated were implemented in practice. The basic experimental investigations of their kinematic, dynamic and energetic parameters were carried out. The fundamental result of the investigation consists in confirmation of the improved dynamic efficiency of vibro-impact systems with pulsed electromagnetic excitation designed according to the new technique. The proposed systems may be used in technological processes of materials compaction and screening, of surface treatment of machine parts and in processes associated with nanotechnology.
Research Interests:
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... more
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.
Research Interests:
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... more
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.
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Main types of mechanisms of power regulation of horizontal-axis wind turbines of low power are analyzed. The necessity of further improving of existent regulation mechanisms is motivated for the purpose of increasing of accuracy of power... more
Main types of mechanisms of power regulation of horizontal-axis wind turbines of low power are analyzed. The necessity of further improving of existent regulation mechanisms is motivated for the purpose of increasing of accuracy of power regulation, effectiveness and reliability of wind turbines functioning in wide range of wind speeds. The prospects of creation of combined mechanical systems are considered, where the possibilities of simultaneous blades turning and folding, blades turning (or folding) and wind-wheel deflection out of wind direction are provided.
Research Interests:
Various types of blades turning and folding mechanisms, which may be used for power regulation and rotation frequency stabilization of horizontal-axis wind turbines, are considered. Kinematic diagrams of corresponding mechanisms are... more
Various types of blades turning and folding mechanisms, which may be used for power regulation and rotation frequency stabilization of horizontal-axis wind turbines, are considered. Kinematic diagrams of corresponding mechanisms are constructed. Analytical expressions for calculating of regulation slider and centrifugal weights displacement as a function of blades turning angle are deduced. The recommendations for determining of their kinematic parameters (analogues of velocities and accelerations) are presented.
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Various types of combined mechanisms of simultaneous blades turning and folding, which can be used for power regulation and rotation frequency stabilization of horizontal-axis wind turbines, are examined. Kinematic diagrams of certain... more
Various types of combined mechanisms of simultaneous blades turning and folding, which can be used for power regulation and rotation frequency stabilization of horizontal-axis wind turbines, are examined. Kinematic diagrams of certain mechanisms are designed. Analytical expressions for ascertainment of regulation sliders displacements from turning and folding angles are deduced.
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The mathematical model of dynamic processes which arise during frictional hardening of the flat surfaces of machine parts using the tool with transverse grooves cut into the working surface is presented.
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The expediency of use of slow-speed (multiblade) wind-wheels with sail-type blades on the territories with low wind potential is substantiated. The structure of experimental prototype of horizontal-axis wind0wheel with sail-type blades is... more
The expediency of use of slow-speed (multiblade) wind-wheels with sail-type blades on the territories with low wind potential is substantiated. The structure of experimental prototype of horizontal-axis wind0wheel with sail-type blades is proposed. The technique of determination of blades inclination angles influence on the starting torque of the wind-wheel is presented. The obtained results are analyzed and the expediency and feasibilities of the wind-wheel largest sailing capacity ensuring with a view to obtain the largest starting torque under the small wind speeds are substantiated.
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Introduction: The paper considers the improved design of the wheeled vibration-driven robot equipped with an inertial exciter (unbalanced rotor) and enhanced pantograph-type suspension. The primary purpose and objectives of the study are... more
Introduction: The paper considers the improved design of the wheeled vibration-driven robot equipped with an inertial exciter (unbalanced rotor) and enhanced pantograph-type suspension. The primary purpose and objectives of the study are focused on mathematical modeling, computer simulation, and experimental testing of locomotion conditions of the novel robot prototype. The primary scientific novelty of the present research consists in substantiating the possibilities of implementing the enhanced pantograph-type suspension in order to improve the robot’s kinematic characteristics, particularly the average translational speed. Methods: The simplified dynamic diagram of the robot’s oscillatory system is developed, and the mathematical model describing its locomotion conditions is derived using the Euler-Lagrange differential equations. The numerical modeling is carried out in the Mathematica software with the help of the Runge-Kutta methods. Computer simulation of the robot motion is performed in the SolidWorks Motion software using the variable step integration method (Gear’s method). The experimental investigations of the robot prototype operating conditions are conducted at the Vibroengineering Laboratory of Lviv Polytechnic National University using the WitMotion accelerometers and software. The experimental data is processed in the MathCad software. Results and discussion: The obtained results show the time dependencies of the robot body’s basic kinematic parameters (accelerations, velocities, displacements) under different operating conditions, particularly the angular frequencies of the unbalanced rotor. The numerical modeling, computer simulation, and experimental investigations present almost similar results: the smallest horizontal speed of about 1 mm/s is observed at the supplied voltage of 3.47 V when the forced frequency is equal to 500 rpm; the largest locomotion speed is approximately 40 mm/s at the supplied voltage of 10 V and forced frequency of 1,500 rpm. The paper may be interesting for designers and researchers of similar vibration-driven robotic systems based on wheeled chassis, and the results may be used while implementing the experimental and industrial prototypes of vibration-driven robots for various purposes, particularly, for inspecting and cleaning the pipelines. Further investigation on the subject of the paper should be focused on analyzing the relations between the power consumption, average translational speed, and working efficiency of the considerer robot under various operating conditions.
Research Interests:
Vibration-driven locomotion principles are currently of significant interest among designers and researchers dealing with mobile robotics. Among a great variety of robots chasses, the wheeled ones are most commonly used. The major purpose... more
Vibration-driven locomotion principles are currently of significant interest among designers and researchers dealing with mobile robotics. Among a great variety of robots chasses, the wheeled ones are most commonly used. The major purpose of this study consists in defining the dynamic characteristics of the wheeled vibration-driven robot equipped with the centrifugal (inertial) vibration exciter (unbalanced rotor) and overrunning clutches ensuring the robot's wheels rotation in one direction. The research methodology is divided into three basic stages: developing the robot's dynamic diagram and deriving the motion equations followed by numerical modelling in the Mathematica software; designing the 3D-model and simulating the robot motion in the SolidWorks software; creating the experimental prototype and conducting the full-scale tests. The obtained results show the time dependencies of the robot's body acceleration, speed, and displacement at certain operational conditions. The main scientific novelty of the paper resides in substantiating the relationships between the robot's design parameters and its dynamic characteristics under different operational conditions. The performed investigations can be useful for researchers and designers dealing with the vibration-driven robots, capsule-type locomotion systems, pipelines inspecting vehicles, etc.
Research Interests:
The paper is focused on the computer simulation and experimental testing of the improved vibratory screening conveyor equipped with the controllable crank-type exciter characterized by the changeable forced frequency and eccentricity. The... more
The paper is focused on the computer simulation and experimental testing of the improved vibratory screening conveyor equipped with the controllable crank-type exciter characterized by the changeable forced frequency and eccentricity. The main scientific novelty of this research is implementing the three-mass discrete-continuous oscillatory system, whose disturbing body is designed in the form of a flat spring characterized by both inertial and stiffness parameters. The proposed excitation method and the novel spring system design can be effectively used while developing new vibratory technological equipment in various industries, e.g., chemical, mining, pharmaceutical, agricultural, etc. The 3D-model of the vibratory screening conveyor is designed in the SolidWorks software; the strength analysis of the conveyor's springs is performed using the finite-element method integrated into the SolidWorks Simulation application; the control system of the experimental prototype is developed using Arduino software and hardware; the experimental data is processed with the help of the Serial Port Plotter software. The main results of the theoretical research present the specific geometrical parameters of the conveyor's flat springs ensuring its operation under energy-efficient near-resonance conditions and time dependencies. The results of experimental investigations allow for determining the dynamic response of the conveyor's oscillatory system at different forced frequencies, which correspond to the eigenfrequencies of the disturbing spring and the intermediate springs. The obtained results allow for substantiating the optimal operating conditions of the vibratory screening conveyor.
Research Interests:
Vibratory treatment is widely used in various industries for performing finishing technological operations, e.g., lapping, polishing, glazing, strengthening (hardening), etc. The problems of maximizing the treatment accuracy and... more
Vibratory treatment is widely used in various industries for performing finishing technological operations, e.g., lapping, polishing, glazing, strengthening (hardening), etc. The problems of maximizing the treatment accuracy and performance of vibratory technological equipment provide the necessity of optimizing the motion trajectory (path) of the corresponding working member. The main purpose of these investigations is to substantiate the possibilities of generating the translational (reciprocating) motion and plane (plane-parallel) oscillations of the working members of vibratory lapping-polishing machines. The research methodology consists of the following stages: substantiating the ideas of improving the vibratory lapping-polishing machines; designing the dynamic diagrams of the machines' oscillatory systems; developing the mathematical models to describe their dynamic behavior; numerical modeling of the machines' motion conditions. The obtained results present the possible motion trajectories (paths) of the working member (lap, polisher, grazer, etc.). The main scientific novelty of these investigations is substantiating the idea and possibilities of implementing various motion conditions of the working member for adjusting the vibratory lapping-polishing machine in accordance with the technological requirements, as well as for increasing the wear-out period and durability (normal operating period) of the working member. The obtained results can be used for improving the performance and accuracy of similar vibratory lapping-polishing machines.
Research Interests:
Vibration-driven locomotion systems are widely used in various industries, particularly, in the form of capsule-type robots, wheeled platforms, worm-like units, etc. Because of the changeable operating conditions, such systems require... more
Vibration-driven locomotion systems are widely used in various industries, particularly, in the form of capsule-type robots, wheeled platforms, worm-like units, etc. Because of the changeable operating conditions, such systems require continuous control of their kinematic and dynamic characteristics. The main purpose of the present paper is to define the optimal excitation conditions (forced frequencies and phase shifts) of a wheeled two-module vibration-driven robot equipped with two unbalanced rotors. The research methodology contains four stages: developing the robot's dynamic diagram and mathematical model describing its motion; designing the robot's simulation model in the MapleSim software; numerical modeling of the system locomotion conditions in the Mathematica software; simulating the system dynamic behavior in the MapleSim software. The obtained results show the time dependencies of the system's kinematic characteristics at different phase shift angles of the unbalanced rotors. The major scientific novelty of this paper consists in substantiating the possibilities of adjusting the system's operational parameters in accordance with the changeable technological requirements by means of changing the phase shift angles of the unbalanced rotors. The proposed ideas and obtained results can be used while developing new designs of robots based on the two-module vibration-driven systems and while improving the control systems for adjusting their performance in accordance with the changeable operational conditions.
Research Interests:
Vibration-driven locomotion system is a relatively new branch of mobile robotics. The design variety of vibrationdriven robots is quite wide, while their control systems need constant improvement from the viewpoint of the robot's... more
Vibration-driven locomotion system is a relatively new branch of mobile robotics. The design variety of vibrationdriven robots is quite wide, while their control systems need constant improvement from the viewpoint of the robot's operational efficiency, accuracy, production, and maintenance costs. The purpose of this paper is the development, simulation, and practical implementation of a novel control system for a mobile vibration-driven robot. The proposed control system is based on Arduino hardware and software. The developed wheeled robot can be remotely controlled using the Bluetooth interface and the mobile phone with the corresponding Android application installed. The experimental prototype of the mobile robot is tested under different operational conditions (supplied voltages and forced frequencies) regulated by the developed control system. The corresponding kinematic parameters of the robot's wheeled platform and the impact body are registered by the WitMotion accelerometers, and the experimental data are processed with the help of the WitMotion and MathCad software. The results of the presented research can be effectively used while designing and implementing mobile robotic systems for inspecting, cleaning, or maintaining the internal surfaces of various pipelines, tubes, vessels, intestines, etc.
Research Interests:
Dear Colleagues, We kindly request your assistance in sharing this invitation for the 69th International Vibroengineering Conference on Vibration Processes and Systems in Engineering with your network and students. This conference is a... more
Dear Colleagues,
We kindly request your assistance in sharing this invitation for the 69th International Vibroengineering Conference on Vibration Processes and Systems in Engineering with your network and students. This conference is a premier event dedicated to exploring the latest advancements and research in Vibroengineering. It serves as an excellent platform for academics, researchers, and professionals to present their innovative work, exchange ideas, and foster collaborations in the field of vibration technologies and systems engineering.
Your participation and support in disseminating this invitation are highly valued.
Call for Papers: 69th International Vibroengineering Conference on Vibration Processes and Systems in Engineering
Date: September 26-29, 2024
Physical Venue: Lviv Polytechnic National University, 12 S. Bandera Street, Lviv, Ukraine
Virtual Participation: Available for International Attendees
Hosted by: Lviv Polytechnic National University & "Extrica" Publishing House Official
Website: https://www.extrica.com/conference/lviv-2024
Why You Should Participate:
- Engage in Rich Discussions with eminent scientists and industry experts
- Present and Explore cutting-edge research and innovative practices
- Achieve Recognition by publishing your research in proceedings indexed by elite scientific databases including Scopus, EI Compendex, and more.
Who Is Invited?
This call extends to researchers, graduate students, doctoral candidates, and professionals in the vibration processes and systems engineering. International participants are warmly invited to join us online.
Important Details:
- Paper Submission Deadline: August 31, 2024
- Reduced Participation Fee: €130 (For Ukrainian scholars)
For Our Local Community: The conference presents an invaluable opportunity to connect with local experts. Engage firsthand with pioneering research and collaborative research in your field.
For Our Online Attendees: Experience the same level of participation and insight through our interactive online platform. Connect, share, and learn from wherever you are in the world.
Be Part of the Change! This conference is not just an event; it's a chance to shape the future of your field. Whether you're in Lviv or joining us online, your contribution is crucial. For submission guidelines and further information: https://www.extrica.com/conference/lviv-2024
We're excited to offer a platform for local and international collaboration, knowledge exchange, and professional growth. Join us in Lviv, either in person or online, for an unforgettable experience.
Шановні колеги,
Запрошуємо Вас узяти участь у 69-й Міжнародній конференції «Вібраційні процеси та системи в інженерії». Ця конференція присвячена представленню останніх досягнень та досліджень у галузі віброінженерії. Вона послугує чудовою платформою для науковців, дослідників та професіоналів-практиків, щоб представити свої інноваційні розробки, обмінятися ідеями та сприяти співпраці в галузі вібраційних технологій та систем. До початку роботи конференції планується видання чергового номера журналу “Vibroengineering Procedia”, який індексується у провідних наукометричних базах даних, зокрема, SCOPUS (квартиль Q3), EI Compendex та інших.
Дати конференції: 26-29 вересня 2024 р.
Формат участі: очно або дистанційно.
Організатор: Національний університет «Львівська політехніка», вул. С. Бандери 12, м. Львів, Україна.
Офіційний веб-сайт конференції: https://www.extrica.com/conference/lviv-2024
Кінцева дата подання матеріалів конференції: 31 серпня 2024 р.
Організаційний внесок для учасників з України: 130 EUR.
Шаблон для оформлення матеріалів статті: у приєднаному файлі.
Контактна особа: Віталій Корендій, завідувач кафедри технічної механіки та інженерної графіки Національного університету «Львівська політехніка», email: vitalii.m.korendii@lpnu.ua, тел. +380977479698
PS. Прохання поширити дану інформацію серед Ваших колег, які потенційної можуть зацікавитися участю в конференції. Наперед вдячні за участь та надіємося на подальшу співпрацю.
З повагою,
організаційний комітет конференції.
We kindly request your assistance in sharing this invitation for the 69th International Vibroengineering Conference on Vibration Processes and Systems in Engineering with your network and students. This conference is a premier event dedicated to exploring the latest advancements and research in Vibroengineering. It serves as an excellent platform for academics, researchers, and professionals to present their innovative work, exchange ideas, and foster collaborations in the field of vibration technologies and systems engineering.
Your participation and support in disseminating this invitation are highly valued.
Call for Papers: 69th International Vibroengineering Conference on Vibration Processes and Systems in Engineering
Date: September 26-29, 2024
Physical Venue: Lviv Polytechnic National University, 12 S. Bandera Street, Lviv, Ukraine
Virtual Participation: Available for International Attendees
Hosted by: Lviv Polytechnic National University & "Extrica" Publishing House Official
Website: https://www.extrica.com/conference/lviv-2024
Why You Should Participate:
- Engage in Rich Discussions with eminent scientists and industry experts
- Present and Explore cutting-edge research and innovative practices
- Achieve Recognition by publishing your research in proceedings indexed by elite scientific databases including Scopus, EI Compendex, and more.
Who Is Invited?
This call extends to researchers, graduate students, doctoral candidates, and professionals in the vibration processes and systems engineering. International participants are warmly invited to join us online.
Important Details:
- Paper Submission Deadline: August 31, 2024
- Reduced Participation Fee: €130 (For Ukrainian scholars)
For Our Local Community: The conference presents an invaluable opportunity to connect with local experts. Engage firsthand with pioneering research and collaborative research in your field.
For Our Online Attendees: Experience the same level of participation and insight through our interactive online platform. Connect, share, and learn from wherever you are in the world.
Be Part of the Change! This conference is not just an event; it's a chance to shape the future of your field. Whether you're in Lviv or joining us online, your contribution is crucial. For submission guidelines and further information: https://www.extrica.com/conference/lviv-2024
We're excited to offer a platform for local and international collaboration, knowledge exchange, and professional growth. Join us in Lviv, either in person or online, for an unforgettable experience.
Шановні колеги,
Запрошуємо Вас узяти участь у 69-й Міжнародній конференції «Вібраційні процеси та системи в інженерії». Ця конференція присвячена представленню останніх досягнень та досліджень у галузі віброінженерії. Вона послугує чудовою платформою для науковців, дослідників та професіоналів-практиків, щоб представити свої інноваційні розробки, обмінятися ідеями та сприяти співпраці в галузі вібраційних технологій та систем. До початку роботи конференції планується видання чергового номера журналу “Vibroengineering Procedia”, який індексується у провідних наукометричних базах даних, зокрема, SCOPUS (квартиль Q3), EI Compendex та інших.
Дати конференції: 26-29 вересня 2024 р.
Формат участі: очно або дистанційно.
Організатор: Національний університет «Львівська політехніка», вул. С. Бандери 12, м. Львів, Україна.
Офіційний веб-сайт конференції: https://www.extrica.com/conference/lviv-2024
Кінцева дата подання матеріалів конференції: 31 серпня 2024 р.
Організаційний внесок для учасників з України: 130 EUR.
Шаблон для оформлення матеріалів статті: у приєднаному файлі.
Контактна особа: Віталій Корендій, завідувач кафедри технічної механіки та інженерної графіки Національного університету «Львівська політехніка», email: vitalii.m.korendii@lpnu.ua, тел. +380977479698
PS. Прохання поширити дану інформацію серед Ваших колег, які потенційної можуть зацікавитися участю в конференції. Наперед вдячні за участь та надіємося на подальшу співпрацю.
З повагою,
організаційний комітет конференції.
Research Interests: Vibrations, Vibration Control, Vibration, Condition Monitoring maintenance vibration analysis, Noise and Vibration Control and Prediction, and 5 moreMechanical Vibrations, Acoustics and Vibration, Maintenance of Power Plant Using Vibration Signal, Structural Dynamics (Random Vibrations), and Mechanical Vibration and Machinery System Dynamics
Sunflower oil is extremely important and widely used in the food industry, pharmaceutics, cosmetology, and numerous technical fields. The main purpose of this research is to propose a novel design of a crew-type press for sunflower oil... more
Sunflower oil is extremely important and widely used in the food industry, pharmaceutics, cosmetology, and numerous technical fields. The main purpose of this research is to propose a novel design of a crew-type press for sunflower oil extraction and to analyze the stress-strain conditions of its certain components, particularly, connecting shaft and screw. Simulation results obtained in SolidWorks software show the distribution of equivalent stresses and deformations in the corresponding element.