Journal articles: 'Machinery, Kinematics of'

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Cong, Hong Bin, Ru Xin Li, and Xin Yue Han. "Application of Kinematics Simulation Technology in Agricultural Machinery Design." Advanced Materials Research 97-101 (March 2010): 3447–50. http://dx.doi.org/10.4028/www.scientific.net/amr.97-101.3447.

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In this paper, the research status and the significance of the simulation technology were discussed, and the necessity introducing the simulation technology into the agricultural machinery design was analyzed. Through the material kinematics simulation in processing, both the component kinematics simulation and the system dynamic simulation of the agricultural machinery, a specific application of the simulation technology in the agriculture machinery design was displayed. Application of the simulation technology in the agricultural machinery design has a vital significance for enhancing their design and development ability, improving their product performance, as well as promoting new agricultural machinery and the agricultural mechanization.

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Hansen, John M. "Kinematics and Dynamics of Machinery." European Journal of Mechanics - A/Solids 17, no. 4 (July 1998): 701–2. http://dx.doi.org/10.1016/s0997-7538(99)80030-8.

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To, Cho W. S. "Introduction to Kinematics and Dynamics of Machinery." Synthesis Lectures on Mechanical Engineering 1, no. 5 (December 6, 2017): 1–196. http://dx.doi.org/10.2200/s00798ed1v01y201709mec007.

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Canfield, Stephen L., and Stephen G. Zuccaro. "Digital homework for kinematics and dynamics of machinery." International Journal of Mechanical Engineering Education 44, no. 2 (April 2016): 165–82. http://dx.doi.org/10.1177/0306419016641008.

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Wang, Wen Long, and Ji Rong Wang. "Kinematics Simulation Analysis of a Kind of Pedal Rehabilitation Robot." Applied Mechanics and Materials 602-605 (August 2014): 848–52. http://dx.doi.org/10.4028/www.scientific.net/amm.602-605.848.

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This paper describes the design of the gait mechanism of pedal lower limb rehabilitation robot based on people’s heel movement trajectory curve in the normal walking. It is established the kinematics mathematical model of a pedal lower limbs rehabilitation robot and the simplified three-dimensional model with Pro/e software, then it is simulated kinematics using ADAMS software. The simulation result is shown that this pedal lower limbs rehabilitation robot can achieve the expected rehabilitation exercise and run smoothly. Kinematics analysis and simulation of pedal rehabilitation robot is provided the necessary theoretical basis and parameters for the study of lower limb rehabilitation machinery.

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Zhang, Lin, Gan Wei Cai, Xiao Chun Wang, Fang Wen, and Yuan Chen. "Kinematic Simulation and Analysis on Work Equipment of a New Type Loader Based on ADAMS." Applied Mechanics and Materials 799-800 (October 2015): 533–37. http://dx.doi.org/10.4028/www.scientific.net/amm.799-800.533.

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This paper describes the characteristics of the multi-DOF controllable mechanism type construction machinery, and has done the kinematic analysis on the work equipment of this new type loader. 3 dimensional model of the multi-DOF controllable mechanism type loader is established by Pro/E software, and describe the typical workflow of work equipment through step function. Through carried on the positive and inverse kinematics simulation used the dynamic simulation software of mechanical system ADAMS, we got the movement rules of the driving lever and the curve of the bucket dip angle. Finally, a small prototype model was built to test this new type loader.

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Malingen, Sage A., Anthony M. Asencio, Julie A. Cass, Weikang Ma, Thomas C. Irving, and Thomas L. Daniel. "In vivo X-ray diffraction and simultaneous EMG reveal the time course of myofilament lattice dilation and filament stretch." Journal of Experimental Biology 223, no. 17 (July 24, 2020): jeb224188. http://dx.doi.org/10.1242/jeb.224188.

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ABSTRACTMuscle function within an organism depends on the feedback between molecular and meter-scale processes. Although the motions of muscle's contractile machinery are well described in isolated preparations, only a handful of experiments have documented the kinematics of the lattice occurring when multi-scale interactions are fully intact. We used time-resolved X-ray diffraction to record the kinematics of the myofilament lattice within a normal operating context: the tethered flight of Manduca sexta. As the primary flight muscles of M.sexta are synchronous, we used these results to reveal the timing of in vivo cross-bridge recruitment, which occurred 24 ms (s.d. 26) following activation. In addition, the thick filaments stretched an average of 0.75% (s.d. 0.32) and thin filaments stretched 1.11% (s.d. 0.65). In contrast to other in vivo preparations, lattice spacing changed an average of 2.72% (s.d. 1.47). Lattice dilation of this magnitude significantly affects shortening velocity and force generation, and filament stretching tunes force generation. While the kinematics were consistent within individual trials, there was extensive variation between trials. Using a mechanism-free machine learning model we searched for patterns within and across trials. Although lattice kinematics were predictable within trials, the model could not create predictions across trials. This indicates that the variability we see across trials may be explained by latent variables occurring in this naturally functioning system. The diverse kinematic combinations we documented mirror muscle's adaptability and may facilitate its robust function in unpredictable conditions.

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Wu, Jiangdong, Haoling Ren, Tianliang Lin, Yu Yao, Zhen Fang, and Chang Liu. "Autonomous Path Finding and Obstacle Avoidance Method for Unmanned Construction Machinery." Electronics 12, no. 9 (April 25, 2023): 1998. http://dx.doi.org/10.3390/electronics12091998.

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The working environment of construction machinery is harsh, and some operations are highly repetitive. The realization of intelligent construction machinery helps to improve economic efficiency and promote industrial development. Construction machinery is different from ordinary passenger vehicles. Aiming at the fact that the existing environmental perception data set cannot be directly applied to construction machinery, this paper establishes the corresponding data set in combination with the specific working conditions of construction machinery and carries out training based on the PointPillars network to realize the environmental perception function applicable to the working conditions of construction machinery. Most construction machinery runs on unstructured roads, and the existing passenger vehicle path planning algorithm is not applicable to construction machinery. Based on this, this paper uses a hybrid A* algorithm to achieve path planning that meets the kinematics of construction machinery and realizes real-time obstacle detection and avoidance. At the same time, this paper combines environmental perception with a path planning algorithm to provide a method of autonomous path finding and obstacle avoidance for construction machinery. Based on the improved pure pursuit algorithm, the high-precision motion control and established trajectory tracking of construction machinery are realized, which lays a certain foundation for the follow-up research and development of related intelligent technologies of construction machinery.

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Lin, Hai Bo, Shu Liang Dong, and Chui Jie Yi. "Kinematics Model and Simulation of Precise Wheat-Sowing Robot." Advanced Materials Research 562-564 (August 2012): 923–26. http://dx.doi.org/10.4028/www.scientific.net/amr.562-564.923.

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The wheat precise seeding technology is an effective way to increase the production of wheat. Walking precision of the agricultural machinery combined with precise seeders has a directly effect on the accuracy of sowing. The real-time tracking technology has become the main problem in agricultural fields. In this paper, the kinematics model of a mobile robot was established and MATLAB was used to make simulation analysis of Path tracking. The results meet the requirements of the robot path tracking and provide technical support for precision seeding.

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Li, Hongchang, Fang Gao, and GuoCai Zuo. "Research on the Agricultural Machinery Path Tracking Method Based on Deep Reinforcement Learning." Scientific Programming 2022 (March 22, 2022): 1–14. http://dx.doi.org/10.1155/2022/6385972.

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With the rapid development of information technology, industry and service industries have achieved rapid development in recent years. Then, looking at the development of agriculture, the popularity of informatization lags far behind industry and service industries, directly hindering the digital development of agriculture. Starting from the current agricultural machinery driving operation scene, this paper carried out a simplified research on the traditional agricultural machinery driving operation method through the agricultural machinery kinematics model, and based on the related theory of deep reinforcement learning to study the agricultural machinery path tracking in the agricultural operation scene, it carried out the controller design, built the agricultural machinery autonomous path tracking framework operating mechanism under deep reinforcement learning, and further researched through experimental design and found that the agricultural machinery autonomous path tracking control can achieve better automatic control after empirical learning. I-DQN algorithm enables agricultural robots to adapt to the environment faster when performing path tracking, which improves the performance of path tracking. It has important guiding significance for further promoting the automatic navigation and control of agricultural machinery to realize the efficient operation of agricultural mechanization.

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Xu, Lihong, Jiawei You, and Hongliang Yuan. "Real-Time Parametric Path Planning Algorithm for Agricultural Machinery Kinematics Model Based on Particle Swarm Optimization." Agriculture 13, no. 10 (October 8, 2023): 1960. http://dx.doi.org/10.3390/agriculture13101960.

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In order to meet the obstacle avoidance requirements of unmanned agricultural machinery in operation, it is necessary to plan a path to avoid obstacles in real time after obstacles are detected. However, the traditional path planning algorithm does not consider kinematic constraints, which makes it difficult to realize the plan, thus affecting the performance of the path tracking controller. In this paper, a real-time path planning algorithm based on particle swarm optimization for an agricultural machinery parametric kinematic model is proposed. The algorithm considers the agricultural machinery kinematic model, defines the path satisfying the kinematic model through a parametric equation, and solves the initial path through the analytic method. Then, considering the constraints of obstacles, acceleration, and turning angle, two objective functions are proposed. The particle swarm optimization algorithm is used to search the path near the initial path which satisfies the obstacle avoidance condition and has a better objective function value. In addition, the influence of the algorithm parameters on the running time is analyzed, and the method of compensating the radius of the obstacle is proposed to compensate the influence of the discrete time on the obstacle collision detection. Finally, experimental results show that the algorithm can plan a path in real time that avoids any moving obstacles and has a better objective function value.

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Mamaev, Alexey, Tatiana Balabina, and Maria Karelina. "Kinematics and traction properties of the V-belt transmission." E3S Web of Conferences 515 (2024): 01008. http://dx.doi.org/10.1051/e3sconf/202451501008.

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The wide application of V-belt transmissions in various types of machinery requires analysing the operation of these transmissions, including consideration of their kinematic and force parameters. In this work it is executed with application of the spatial theory of interaction of a V-belt with pulleys of the transmission - the mechanism of movement of an element of a belt in a groove of a pulley, its sliding and forces acting on an element of a belt are considered. The methodology of kinematic and force parameters determination for V-belt transmission is given.

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TAKESUE, Naoyuki. "How to Teach and How to Learn Kinematics of Machinery." Proceedings of the Machine Design and Tribology Division meeting in JSME 2018.18 (2018): 3. http://dx.doi.org/10.1299/jsmemdt.2018.18.3.

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Gao, Bo, Xiao Gui Zhang, and Ji Fei Cai. "An Exploration on the Innovation Methods of the Printing and Packaging Machinery Based on Simulation." Applied Mechanics and Materials 401-403 (September 2013): 26–30. http://dx.doi.org/10.4028/www.scientific.net/amm.401-403.26.

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Printing and packaging machinery have complex technology motion. The mechanism is composed of different basic mechanism. The mechanism design is an important stage in Innovation Design of Printing and Packaging Machine. The mechanics design applying Solideworks three dimensions design software and Matlab Simulation was introduced; in the design stage, assemble interference and interference detection of the mechanics were made by Solideworks Visible model; on the basis, the analysis on the kinematics and dynamics of machinery by Matlab Simulation were done. The application example shows the Solideworks three dimensions design and Matlab Simulation is a perfect design method.

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Cui, Hong Xin, Huan Liang Li, Ke Feng, and Ya Ming Gao. "Kinematic Simulation of Hydraulic Excavator’s Working Attachment Based on Matlab/Robot." Advanced Materials Research 694-697 (May 2013): 1765–70. http://dx.doi.org/10.4028/www.scientific.net/amr.694-697.1765.

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Autonomous excavation has attracted interest because of the potential for increased productivity and lower labor costs. In this work the workspace of working attachment is divided into four spaces by driving space, joint space, pose space and detection space. By geometrical relation of hydraulic excavator working attachment’s mechanisms, the mutual map relationship of every workspace is derived. Subsequently, the kinematics model of hydraulic digger’ working attachment is built so as to accomplish its autonomous excavation. The kinematics solutions and inverse solutions of hydraulic digger’s working attachment are performed. Furthermore, the kinematics simulation analysis on performance and trajectory of the working attachment is carried out by Robotics Toolbox of Matlab. Its conclusion provides technical base and prior computation data for autonomous excavation of hydraulic digger as well as the similar task of other engineering machinery unmanned operation.

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Farias, João B. S., Miguel A. B. E. Martins, Daniel G. Afonso, Sonia R. H. Marabuto, Jorge A. Ferreira, and R. J. Alves de Sousa. "CAD/CAM Strategies for a Parallel Kinematics SPIF Machine." Key Engineering Materials 554-557 (June 2013): 2221–29. http://dx.doi.org/10.4028/www.scientific.net/kem.554-557.2221.

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Single point incremental forming has attracted the interest of researchers in the last decade for the production of prototypes and small batch production of sheet-based parts [1, 2]. This technique allows the manufacture of parts without using expensive die sets. The SPIF (Single point incremental forming) process can be performed on different equipments such as adapted CNC milling machines, serial robots and built proposed machines [3]. Every solution has advantages and disadvantages. This work presents the CAD/CAM strategies for a parallel kinematics SPIF machine, designed and built at the University of Aveiro [3]. This machine brings a new approach to the SPIF industry. The machinery used to perform SPIF operations has limitations in their work volume with limited movements and in the magnitude of applicable forces. With that in mind, this machine was projected to overcome that obstacle, and was provided with a system with 6 degrees of freedom, while maintaining the ability to apply high loads. The disadvantage is the increase in volume occupied by the kinematic system. The manufacture of new parts could be reached out with more flexibility on the chosen tool path. The first step is the product design in the commercial CAD system. Next step is generating the tool path of the forming tool. This step is very important to achieve the desired part shape. It is used a commercial CAM system (EdgeCAM 2012®), which has resources from three up to five axis strategies. The last step is to send the information to the machine’s control system, based on real-time software. This paper will describe each step with more details.

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Sadilov, M. D., and G. A. Timofeev. "Modeling the Delta Robot Movement along a Specified Trajectory in order to Determine the Force Factors Acting on its Drives and Hinges." Proceedings of Higher Educational Institutions. Маchine Building, no. 11 (740) (November 2021): 22–30. http://dx.doi.org/10.18698/0536-1044-2021-11-22-30.

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Improving the productivity of machinery and auxiliary equipment has long been one of the main directions for the world industry development. Efforts to gain fractions of a percent of the indicator require both the improvement of existing mechanisms and the introduction of faster manipulators, such as a delta robot. One of the key design tasks for such mechanisms is determining the required drive characteristics. The article presents a solution of the inverse kinematics problem for a delta robot. An algorithm for planning the movement of the working body for performing a typical operation of object permutations is described. The issues of modeling the movement of a robot in the computer-aided design system Autodesk Inventor are considered. The dynamic characteristics of the manipulator have been obtained, on the basis of which it is possible to select drives, bearings and kinematic pairs.

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Yang, Jie, and Xue Jun Wang. "Kinematics Simulation Based on ADAMS Belt Conveyor Rollers." Advanced Materials Research 945-949 (June 2014): 666–69. http://dx.doi.org/10.4028/www.scientific.net/amr.945-949.666.

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Belt conveyor has the strong adapt ability and it uses widely in convey machinery. Roller is one of the key components in the belt conveyor; it plays an important role in the normal operation of belt conveyor. In order to study the influence factors of roller service life, this paper analyzed the movement of the roller and used Solid edge ST4 and ADAMS software to establish the virtual prototype model of roller and kinematics simulation of the model. This paper concludes the main factors affect the life are the sealing effect, poor alignment of the roller and the alignment of the bearing. Through the analysis of roller can reduce the design errors, improve the processing and installation accuracy mostly at the same time in the production process, it also can reduce the design and process time significantly and lower manufacturing cost and prolong the service life of roller.

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Orlov, B. N., M. A. Karapetyan, and A. S. Matveev. "Analytical method in the study of kinematics of process machinery mechanisms." IOP Conference Series: Materials Science and Engineering 1064, no. 1 (February 1, 2021): 012026. http://dx.doi.org/10.1088/1757-899x/1064/1/012026.

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Soloviev, Dmitry Aleksandrovich, and Larisa Anatolyevna Zhuravleva. "Agropromtechnic: problems and prospects." Agrarian Scientific Journal, no. 8 (August 31, 2020): 100–104. http://dx.doi.org/10.28983/asj.y2020i8pp100-104.

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The article considers innovative directions of development of forest and agricultural machinery with intelligent control systems. The kinematics is considered on the example of a harvester with a multi-link manipulator and walking running equipment. Systems of equations describing the spatial position of working and running equipment with a large number of degrees of freedom are presented. The assessment of existing problems and development prospects is given.

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Qiu, Ying, Wei Min Li, and Zhi Wei. "The Kinematics Analysis and Study on Triangular Elbow Servo Press." Applied Mechanics and Materials 121-126 (October 2011): 1636–40. http://dx.doi.org/10.4028/www.scientific.net/amm.121-126.1636.

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Servo presses are widely used in high-precision, complicated forming process fields and promoted around the world in recent years. It is the trend of forging machinery for its servo motor-based digital heavy haul driven technology. At present, it becomes the hot research field. The structure characteristics of triangular elbow servo press were firstly introduced in the paper. And then the kinematics mathematical model of triangular elbow transmission mechanism was deduced and given. Based on it, this paper provides the slider kinematics analysis by Matlab. The slider motion law under various parameters can be analyzed and compared. The results would be useful reference for optimization design of transmission mechanism. The case study provides more visual and reliable decision basis for designer.

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Bahgat, B. M., M. O. M. Osman, and R. V. Dukkipati. "On the Dynamic Gear Tooth Loading of Planetary Gearing as Affected by Bearing Clearances in High-Speed Machinery." Journal of Mechanisms, Transmissions, and Automation in Design 107, no. 3 (September 1, 1985): 430–36. http://dx.doi.org/10.1115/1.3260740.

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The paper studies the effect of bearing clearances in the dynamic analysis of planetary gear mechanisms in high-speed machinery. For this purpose, an analytical model is developed based on the interdependence between kinematics and kinetic relationships that must be satisfied when contact is maintained between the journal and its bearing. The contact mode is formulated such that the bearing eccentricity vector must align itself with bearing normal force at the point of contact. The analysis mainly relies on determining the direction of the bearing eccentricity vector defined as the clearance angles βi at the bearing revolutes for each contact mode of the gear teeth. The governing equations of the clearance angles are developed using the geometrical constraints of the contact point location and the velocity ratio. The clearance angles and their derivatives are used to systematically evaluate kinematic and dynamic quantities. A rigid planetary spur gears with two revolute clearances is analyzed to illustrate the procedure.

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Cheng, Xian, and Wei Min Dong. "Analysis and Simulation of Mineral Grading Sieve Mechanism Motion Based on ADAMS." Applied Mechanics and Materials 457-458 (October 2013): 1554–57. http://dx.doi.org/10.4028/www.scientific.net/amm.457-458.1554.

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This paper introduces a kind of screening machinery that applied to mineral grading.It needs to simplify its structure for expedient simulation and build the three-dimensional solid model of the screen frame in the SolidEdge circumstance, and then be imported into ADAMS software to improve and perfect the model and conduct the analysis and simulation. Ultimately the curves of motion and changes of pressure angle were obtained. The approximate formula of the screen frames acceleration can be obtained to find out the inertial acceleration of the mineral particles by analyzing and simulating its kinematics, which supplys the basis of Stress analysis of mineral particles on the sifter. It provides a theory to optimize screening machinery by analyzing the changes of pressure angle.

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Ren, Haoling, Jiangdong Wu, Tianliang Lin, Yu Yao, and Chang Liu. "Research on an Intelligent Agricultural Machinery Unmanned Driving System." Agriculture 13, no. 10 (September 28, 2023): 1907. http://dx.doi.org/10.3390/agriculture13101907.

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Intelligent agricultural machinery refers to machinery that can independently complete tasks in the field, which has great significance for the transformation of agricultural modernization. However, most of the existing research on intelligent agricultural machinery is limited to unilateral research on positioning, planning, and control, and has not organically combined the three to form a fully functional intelligent agricultural machinery system. Based on this, this article has developed an intelligent agricultural machinery system that integrates positioning, planning, and control. In response to the problem of large positioning errors in the large range of plane anchoring longitude and latitude, this article integrates geographic factors such as ellipsoid ratio, long and short axis radius, and altitude into coordinate transformation, and combines RTK/INS integrated inertial navigation to achieve precise positioning of the entire vehicle over a large range. In response to the problem that existing full-coverage path planning algorithms only focus on job coverage as the optimization objective and cannot achieve path optimization, this paper proposes a multi-objective function-coupled full-coverage path planning algorithm that integrates three optimization objectives: job coverage, job path length, and job path quantity. This algorithm achieves optimal path planning while ensuring job coverage. As the existing pure pursuit algorithm is not suitable for the motion control of tracked mobile machinery, this paper reconstructs the existing pure pursuit algorithm based on the Kinematics characteristics of tracked mobile machinery, and adds a linear interpolation module, so that the actual tracking path points of motion control are always ideal tracking path points, effectively improving the motion control accuracy and control stability. Finally, the feasibility of the intelligent agricultural machinery system was demonstrated through corresponding simulation and actual vehicle experiments. This intelligent agricultural machinery system can cooperate with various operating tools and independently complete the vast majority of agricultural production activities.

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Tian, Ye. "The Design and Kinematics Analysis of Four-Bar Linkage of Micro-Swing Engine." Advanced Materials Research 875-877 (February 2014): 1199–204. http://dx.doi.org/10.4028/www.scientific.net/amr.875-877.1199.

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Based on the movement characteristics,the four-bar mechanism of Micro-swing Engine was designed.The mechanism transform swing movement into rotary motion.With the kinematics model,the moving law of four-bar mechanism was analyzied.And simulate the machinery with computer to abtain the movement of curve of four-bar mechanism.The results show that the four-bar mechanism of Micro-swing Engine running smoothly and the inertia can be overcome the dead point.This will provides the theoretical basis for four-bar mechanism of Micro-swing Engine.

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Nuriev, L. M., S. M. Yakhin, I. I. Aliakberov, I. G. Galiev, and S. S. Sinitsky. "Kinematics and parameters for spiral-helical machinery unit used for secondary tillage." IOP Conference Series: Earth and Environmental Science 488 (May 28, 2020): 012051. http://dx.doi.org/10.1088/1755-1315/488/1/012051.

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Iskakov, Zharilkassin, and Nutpulla Jamalov. "Engineering Kinematics of Dairy and Fermented Milk Products Plant." Applied Mechanics and Materials 863 (February 2017): 149–56. http://dx.doi.org/10.4028/www.scientific.net/amm.863.149.

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In this study is proposed to use the fourth class mechanism as an actuator for dairy and fermented milk products plant. Kinematic analysis of the proposed the fourth class mechanism at different configurations relative to rack and the second class mechanism with similar functionality was carried out. Principles of change of analogues of velocity and acceleration of kinematic couples of both mechanisms for an entire work cycle were defined. Comparative analysis of end results was performed. Results of the analysis indicated that the fourth class mechanism allows a considerably better pressure angle. This in return improves dynamic characteristics of the mechanism at similar functionality compared to the second class mechanism. Whereby changing the ratio of the length of couplers in the proposed fourth class mechanism will enable to achieve the desired pressure angle. Link lengths are expressed in dimensionless values easily convertible into metric dimensions. The results of study may be used successfully in designing new vibration machinery with fourth and second class linkage mechanisms used in various branches of industry.

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Hsieh, Long Chang, and Tzu Hsia Chen. "On the Kinematics and Statics of Planetary Simple Gear Reducers." Advanced Materials Research 591-593 (November 2012): 2165–68. http://dx.doi.org/10.4028/www.scientific.net/amr.591-593.2165.

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The power system equipped in machinery contains power source (motor or engine) and gear reducer to get large output torque. The rotation speed of motor is made higher and higher to attach high power with the same volume. Hence, the reduction ratio of gear reducer is required to be higher and higher. Planetary gear trains can be used as the gear reducers with high reduction ratio. However, the planetary gear train with high reduction ratio is compound gear system. This paper proposes planetary simple gear reducers with high reduction ratio. According to train value equation, the kinematic design of planetary simple gear trains with high reduction ratio is accomplished. Some design examples are designed to illustrate the design algorithm. Also, in this paper, the static force analysis is carried out to prove the kinematic design is right. Based on the proposed algorithm, all planetary simple gear trains with high reduction ratio can be synthesized.

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Ming, Yongcheng, Rongbiao Yan, Yiwei Ma, Kaibi Zhang, and Luning Lei. "Multi-Vehicle Unmanned Following Operation Driving System Based on OpenMV." Advances in Engineering Technology Research 9, no. 1 (February 21, 2024): 732. http://dx.doi.org/10.56028/aetr.9.1.732.2024.

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In response to the low level of agricultural production automation and labor shortage, to improve the efficiency of agricultural machinery utilization and the reliability of automatic navigation, this paper designs an intelligent agricultural machinery system based on OpenMV for multi-vehicle unmanned following operations. Firstly, the kinematics of the agricultural machinery vehicle is analyzed, the path recognition and location line extraction are carried out using the OpenMV vision module, and the agricultural machinery steering control system is designed using the cascade PID closed-loop control technology, which achieves accurate steering control and path tracking on straight lines and curves. Subsequently, using embedded microcontrollers to manage the workflow, utilizing OpenMV visual modules to receive, store, and process positioning information, and sending control instructions to execution units such as the TB6612FNG motor drive module. Moreover, in response to the communication issues involving multiple HC-05 Bluetooth modules in the system's multi-vehicle communication, corresponding protocol specifications have been developed, and combined with the use of the HC-SR04 ultrasonic module to maintain dual vehicle distance and obstacle detection, achieving multi-vehicle collaborative following operations. The experimental results show that the system achieves a path recognition navigation accuracy of 93.4% and a communication success rate of 97.5% in simulating the process of farm harvesting and transportation, effectively proving the multi-vehicle collaboration of the system in the paper

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Musiiko, Volodymyr, Juraj Gerlici, Mykhailo Honchar, Andrii Koval, Anatolii Korpach, Lukáš Čajkovič, Vladimír Pavelčík, and Kateryna Kravchenko. "Leveling and Minimizing the Load of the Universal Earthmoving Machinery Actuators by Improving the Kinematics of Their Movement When Digging the Soil." Applied Sciences 12, no. 15 (July 25, 2022): 7462. http://dx.doi.org/10.3390/app12157462.

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This article considers external loads experienced on the rotor actuator of the universal continuous earthmoving machinery when digging wide excavations (ditches) in the soil and the ways to improve its productivity. Under the condition of translational and rotational supply of the soil-developing actuator to the face, the possibility of minimizing and leveling external loads on the actuator by improving the kinematics of its cyclic movement in the face has been experimentally proved. The actuator should move according to the required trajectory, which corresponds to the curve of the lemniscate of Bernoulli. The load of the UEM soil-developing actuator, operating in the mode of digging the soil, and the effectiveness of the suggested method for leveling the external loads have been experimentally assessed on the current physical model of the operating equipment. Leveling and reducing the absolute values of loads on the UEM operating equipment is achieved by improving the actuator trajectory optimization when digging the soil. It implies the additional rotation of the actuator intermediate frame at the end of each half cycle of the operating process. The required duration of the additional rotation of the intermediate frame is functionally dependent on the actual speed of machinery movement. The additional rotation of the intermediate frame, the duration of which is 1.1 s in the mode of maximum productivity, reduces the maximum load of the operating equipment, namely: torque on the rotor axis Mt-by 19% (up to 60 kN m), the components of the main force vector: vertical force-by 9% (up to 40 kN), and lateral force Pl.m-by 32% (up to 58 kN). The obtained results enable to comprehensively assess the maximum load of the UEM operating equipment under the conditions of changing values of the factors on which it depends and to objectively assess the directional stability of the machinery. Aligning the thickness of the shavings cut by the buckets of the rotor actuator in a half-cycle enables to improve the productivity of the universal earthmoving machinery almost twice.

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Pokatilov, A. E., M. A. Kirkor, and V. I. Ilenkov. "DYNAMIC MAGNIFICATION OF BIOMECHANICAL SYSTEM MOTION." Science & Technique 16, no. 4 (July 6, 2017): 348–54. http://dx.doi.org/10.21122/2227-1031-2017-16-4-348-354.

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Methods for estimation of dynamic magnification pertaining to motion in biomechanics have been developed and approbаted in the paper. It has been ascertained that widely-used characteristics for evaluation of motion influence on mechanisms and machinery such as a dynamic coefficient and acceleration capacity factor become irrelevant while investigating human locomotion under elastic support conditions. The reason is an impossibility to compare human motion in case when there is a contact with elastic and rigid supports because while changing rigidity of the support exercise performing technique is also changing. In this case the technique still depends on a current state of a specific sportsman. Such situation is observed in sports gymnastics. Structure of kinematic and dynamic models for human motion has been investigated in the paper. It has been established that properties of an elastic support are reflected in models within two aspects: in an explicit form, when models have parameters of dynamic deformation for a gymnastic apparatus, and in an implicit form, when we have numerically changed parameters of human motion. The first part can be evaluated quantitatively while making comparison with calculations made in accordance with complete models. For this reason notions of selected and complete models have been introduced in the paper. It has been proposed to specify models for support and models of biomechanical system that represent models pertaining only to human locomotor system. It has been revealed that the selected models of support in kinematics and dynamics have structural difference. Kinematics specifies only parameters of elastic support deformation and dynamics specifies support parameters in an explicit form and additionally in models of human motion in an explicit form as well. Quantitative estimation of a dynamic motion magnification in kinematics and dynamics models has been given while using computing experiment for grand circle backward on a gymnastics horizontal bar as an example. It has been shown that an influence of a gymnastic apparatus on motion has numerically the same order as motion of a sportsman without taking into account elastic properties of the support.

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Zhao, Heng Hua, and Chuan Qiang Wang. "Study on Kinematics Simulation of 3-TPT Parallel Machine Tool Based on Pro/E." Advanced Materials Research 199-200 (February 2011): 1555–59. http://dx.doi.org/10.4028/www.scientific.net/amr.199-200.1555.

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The machinery composition and working principle of 3-TPT parallel machine tool were analyzed. The three dimensional solid models of components of 3-TPT parallel machine tool were designed by using Pro/E. The virtual assembly and connection of the machine tool were accomplished in the assembly environment of Pro/E. Besides, the three-dimensional motion simulation of mechanism about the machine tool was researched in the mechanism module of Pro/E. The three-dimensional animation achieved by the simulation has the strong sense of reality. The working principle of the parallel machine tool was verified by the simulation. The simulation results show that the machine tool has advantages such as good stationarity, no interference and no singularity.

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Dang, Xiao Zheng, Liang Sheng Zhou, Ling Ping Liao, and Dong Liang. "Modelling and Simulation of Forward Kinematics for Planar 3-DOF Parallel Robot Based on Simulink." Applied Mechanics and Materials 397-400 (September 2013): 1552–57. http://dx.doi.org/10.4028/www.scientific.net/amm.397-400.1552.

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Parallel robots are widely used in the machinery industry. In this paper, a planar 3-RRR parallel robot is researched. The forward kinematics mathematical model is established for this kind of mechanism. On the basis of it, a relevant simulation is carried out through MATLAB/Simulink. Thus, the motion rules and stress state for all parts of the mechanism are described vividly The simulation results show that this method is much more effective and efficient when the simulation is implemented for a certain machine system. Meanwhile, it provides a theoretical foundation and a better analytical approach of simulation for the design and analysis of complex multi-linkage mechanisms in the future.

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Gao, Jian She, Wei Wei Yang, De Ping Liu, Yu Ping Wang, and An Qing Zhang. "Analysis of Precision Reliability for CX Series of Five-Axis Turning-Milling Center." Advanced Materials Research 383-390 (November 2011): 4775–82. http://dx.doi.org/10.4028/www.scientific.net/amr.383-390.4775.

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Five-axis turning-milling center is an important and advanced NC machine in fields of military industry, aerospace, automobile and medical machinery. The kinematics equation is built based on D-H method by the analysis of the structure of five-axis turning-milling center. The precision workspace is presented and its definition is given. The precision workspace of five-axis turning-milling center is analyzed based on Monte Carlo method. The mathematical model of precision reliability for machining center is built. The sensitivity of precision reliability for machining center is analyzed using analytical method. Finally, sensitivity histograms are given.

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Zhou, Kun, Dionysis Bochtis, Allan Leck Jensen, Dimitrios Kateris, and Claus Grøn Sørensen. "Introduction of a New Index of Field Operations Efficiency." Applied Sciences 10, no. 1 (January 1, 2020): 329. http://dx.doi.org/10.3390/app10010329.

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The evaluation and prediction of the agricultural machinery field efficiency is essential for agricultural operations management. Field efficiency is affected by unpredictable (e.g., machine breakdowns) and stochastic (e.g., yield) factors, and thus, it is generally provided by average norms. However, the average values and ranges of the field efficiency are of limited value when a decision has to be made on the selection of the appropriate machinery system for a specific operational set up. To this end, in this paper, a new index for field operability, the field traversing efficiency (FTE), a distance-based measure, is introduced and a dedicated tool for estimation of this measure is presented. In order to show the degree of the dependence of the FTE index on the operational features, a number of 864 scenarios derived from the consideration of six sample field shapes, three conventional fieldwork patterns, four driving directions, and twelve combinations of machine unit kinematics and implement width were evaluated by the developed tool. The test results showed that variation of FTE was up to 23% in the tested scenarios when using different operational setups.

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Zhang, W. J., and Q. Li. "A Closed-Form Solution to the Crank Position Corresponding to the Maximum Velocity of the Slider in a Centric Slider-Crank Mechanism." Journal of Mechanical Design 128, no. 3 (August 18, 2005): 654–56. http://dx.doi.org/10.1115/1.2181997.

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This paper revisits a classical problem in kinematics, specifically determination of the crank position corresponding to the maximum velocity of the slider in the centric slider-crank mechanism. This position is often critical in designing products constructed using the slider-crank mechanism, e.g., industrial sewing machinery, rotary engine systems, etc. In current literature, the numerical, graphical, or approximate closed-form solution to this problem is available. In this paper, an exact closed-form solution is derived. With this new closed-form solution, it is found that there exist significant errors in an approximate closed-form solution which can be found from many machine design text books for a practica1 use.

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Li, Zheng Qiang. "Research on Simulation of Kinematics and Dynamics for Planner Six-Bar Mechanism Based on MATLAB/Simulink." Applied Mechanics and Materials 391 (September 2013): 109–13. http://dx.doi.org/10.4028/www.scientific.net/amm.391.109.

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Planner multi-bar mechanisms are widely used in the machinery industry. In this article, a typical planner six-bar mechanism is researched. The kinematics and dynamics mathematical model is established for this kind of mechanism. On the basis of it, a relevant simulation is carried out through MATLAB/Simulink. Thus, the motion rules and stress state for all parts of the mechanism are described vividly. The simulation results show that this method is much more effective and efficient when the simulation is implemented for a certain machine system. Meanwhile, it provides a theoretical foundation and a better analytical approach of simulation for the design and analysis of complex multi-linkage mechanisms in the future.

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Wang, Liquan, Caidong Wang, and Jun Liu. "Error analysis and prototype testing of deepwater pipe flange connection tool." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 228, no. 11 (November 28, 2013): 1978–93. http://dx.doi.org/10.1177/0954406213512927.

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The key factor for underwater petroleum pipeline flange connection tool is its 20 bolts synchronous lead-in nuts. The alignment accuracy of bolts and nuts is critical for bolts lead-in nuts. In order to analyze the accuracy and design issues of the pipeline flange connection tool, the robot kinematics modeling method is adopted. Using the multi-body kinematics theory to homogeneous transformation matrix, the error model of deepwater pipe flange connection tool is established through total differential of the machinery pose transformation matrix. The error model of the tool is established by computer simulation, and the effect of the structure parameters on the bolt end pose error is analyzed. Based on the method of error matching design, the error in the deepwater pipe flange automatic connection tool is determined. Considering the specific structure of the connection tool, the adjusting mechanism for bolt angle error is also designed. Therefore, the hardware compensation of bolt angle error is achieved successfully, and it improves the positioning accuracy of the bolt end. Tests on bolt lead-in prototype are conducted. The experimental results show that the bolt could successfully lead into the nut and confirm the accuracies of the error model and design of the pipeline flange connection tool.

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MARSDEN, BEN. "‘The progeny of these two “Fellows”’: Robert Willis, William Whewell and the sciences of mechanism, mechanics and machinery in early Victorian Britain." British Journal for the History of Science 37, no. 4 (December 2004): 401–34. http://dx.doi.org/10.1017/s0007087404006144.

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This paper examines Robert Willis's science of ‘mechanism’, its relation to the later mechanics textbooks of William Whewell, and its promotion as the key to appreciating, understanding and contriving machinery in Victorian Britain. Responsive, first, to the Society for the Diffusion of Useful Knowledge and later to student audiences at Cambridge, Willis constructed a science of ‘mechanism’ in both words in print and works in practice. With Whewell's sanction in the Philosophy of the Inductive Sciences (1840), Willis's Principles of Mechanism (1841) elaborated a science of kinematics expressing geometry in motion without considerations of force. With Willis's approval, Whewell's Mechanics of Engineering (1841) began to complete and systematize a projected science of machinery, now separated from previous accounts of mechanics. Their joint project put ‘mechanism’ and the ‘mechanics of engineering’ into print in Britain as adjuncts to a liberal education in Cambridge; further, with the rapid expansion of academic provision for practical engineers from 1838 to 1841, these two Fellows offered their progeny as essential fodder further afield. Reactions to this two-pronged attack varied. But it was, perhaps, Willis's work with elaborate demonstration lectures, using special apparatus built by London mechanists and marketed by educational entrepreneurs, that effectively disseminated the new science.

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Chen, Yan, Jian Hao Tan, Xiang Jun Zou, Li Juan Chen, Bo Li, and Jing Wang. "Research on the NC Woodworking Curve Band Saw CAM." Key Engineering Materials 621 (August 2014): 101–6. http://dx.doi.org/10.4028/www.scientific.net/kem.621.101.

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To achieve the processing program and simulation verification on NC Woodworking Curve Band Saw (WCBS) that facilitates the industrialization and practicality of the woodworking machinery, the articles proposes the CAM system modules by the analysis of its composition structure and working principle of the machine and the building-up of its kinematics model. The article also explains the basic functions for each module and develops the CAM systems of MJS1325 WCBS with the use of VC++ and OpenGL. Reading and analyzing the CAD work piece graphics files, the CAM systems is able to generate the NC program and realize the simulation of machining in whole visual process environment including saws, fixtures, belt saw and work piece, etc. The CAM systems pass the prototype test and see a favorable effect.

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Chirivì, G., A. Yıldırım, S. H. Suyu, and A. Halkola. "Gravitational Lensing and Dynamics (GLaD): combined analysis to unveil properties of high-redshift galaxies." Astronomy & Astrophysics 643 (November 2020): A135. http://dx.doi.org/10.1051/0004-6361/202037929.

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The dynamical modelling of integral field unit (IFU) stellar kinematics is a powerful tool to unveil the dynamical structure and mass build-up of galaxies in the local Universe, while gravitational lensing is nature’s cosmic telescope to explore the properties of galaxies beyond the local Universe. We present a new approach, which unifies dynamical modelling of galaxies with the magnification power of strong gravitational lensing, to reconstruct the structural and dynamical properties of high-redshift galaxies. By means of axisymmetric Jeans modelling, we create a dynamical model of the source galaxy, assuming a surface brightness and surface mass density profile. We then predict how the source’s surface brightness and kinematics would look when lensed by the foreground mass distribution and compare with the mock observed arcs of strong gravitational lensing systems. For demonstration purposes, we created and also analysed mock data of the strong lensing system RX J1131−1231. By modelling both the lens and source, we recover the dynamical mass within the effective radius of strongly lensed high-redshift sources within 5% uncertainty, and we improve the constraints on the lens mass parameters by up to 50%. This machinery is particularly well-suited for future observations from large segmented-mirror telescopes, such as the James Webb Space Telescope, which will yield high sensitivity and angular-resolution IFU data for studies on distant and faint galaxies.

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Cerruto, Emanuele, and Giuseppe Manetto. "Vibration from Electric Hand-Held Harvesters for Olives." Applied Sciences 12, no. 4 (February 9, 2022): 1768. http://dx.doi.org/10.3390/app12041768.

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Olive harvesting is the most expensive cultivation operation in areas where full mechanization is not possible due to structural conditions such as low tree density, old trees, irregular spacing, and terraced fields, which are very frequent in many small Italian farms. Under these conditions the use of hand-held vibrating harvesters is quite wide spread, because they are capable of approximately three times the productivity of workers using manual harvesting methods. Unfortunately, the use of these machines exposes the operators to hand-arm vibration risk and acceleration values are affected by several factors, including harvester kinematics, rod material and geometry, and load conditions. In this study several models of electrical portable harvesters, obtained by combining six harvester heads and four rods (one telescopic), were tested under idling and load conditions, measuring acceleration values on the rod, near the hand positions. Assuming the use of the machinery for 4 h per day, the result is a level of daily vibration exposure A(8) for the most exposed hand ranging from about 11 to 40 m/s2, much higher than the daily exposure limit value of 5 m/s2 stated by the European Directive 2002/44/EC. With the same harvester head, reduction in vibration may be achieved by using carbon fiber rods rather than aluminum ones or by increasing the rod diameter. The most significant reduction is achievable by designing harvester heads whose kinematics inherently incorporate oscillation compensation.

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Godzhaev, Zahid A., and Mikhail V. Kapitonov. "The mathematical model of turning kinematics of a two-section active road train with real and ideal control systems of semitrailer wheels turning." Tractors and Agricultural Machinery 90, no. 2 (July 27, 2023): 117–22. http://dx.doi.org/10.17816/0321-4443-245790.

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BACKGROUND: The development of aerospace machinery leads to the need for transportation of increasingly large-sized indivisible cargo by ground vehicles. At the same time, taking into account the peculiarities of the transported cargo, a number of special requirements including maneuverability are imposed on vehicles. AIMS: Defining the magnitude of the semitrailer path offset relative to the truck path. METHODS: The solution of the system of ordinary differential equations is performed using the MATLAB/Simulink software implementing the Runge-Kutta-Felberg method of the fourth-fifth orders. RESULTS: The comparative graph of the values of the normal and ideal jack-knifing angles has been obtained. CONCLUSIONS: The developed mathematical models and calculation software make it possible to assess the maneuverability of newly developed prototypes quite quickly and accurately.

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Shen, Cheng, Suming Liang, Jinhao Liang, and Guodong Yin. "A robust H∞-based steering assistance system for the wheeled tractor." Science Progress 104, no. 4 (October 2021): 003685042110537. http://dx.doi.org/10.1177/00368504211053728.

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Agricultural machine automatic navigation poses great challenge to the precise agricultural technology system nowadays. To this end, this paper proposes a novel steering assistance system (SAS) to assist drivers in the path-tracking. First, the driver steering model is investigated through the driver simulator tests. Combining the wheeled tractor kinematics model, a driver-vehicle model is developed. Then, a polytopic linear parameter-varying (LPV) system is adopted to describe the uncertainties, including time-varying driver model parameters and velocity, in the model, based on which an output-feedback robust controller is developed to ensure robust stability within the polytope space. Moreover, a regional pole placement method is adopted to improve the transient performance of the system. Finally, driver-in-the-loop and field tests conducted to value the controller. The results show the effectiveness of the proposed method to improve the path-tracking performance for the agricultural machine navigation, while reducing the physical and mental workload of drivers. This control method is expected to be a paradigm for the precise navigation system of the agricultural machinery.

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Stauffer, Taylor P., Billy I. Kim, Caitlin Grant, Samuel B. Adams, and Albert T. Anastasio. "Robotic Technology in Foot and Ankle Surgery: A Comprehensive Review." Sensors 23, no. 2 (January 6, 2023): 686. http://dx.doi.org/10.3390/s23020686.

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Recent developments in robotic technologies in the field of orthopaedic surgery have largely been focused on higher volume arthroplasty procedures, with a paucity of attention paid to robotic potential for foot and ankle surgery. The aim of this paper is to summarize past and present developments foot and ankle robotics and describe outcomes associated with these interventions, with specific emphasis on the following topics: translational and preclinical utilization of robotics, deep learning and artificial intelligence modeling in foot and ankle, current applications for robotics in foot and ankle surgery, and therapeutic and orthotic-related utilizations of robotics related to the foot and ankle. Herein, we describe numerous recent robotic advancements across foot and ankle surgery, geared towards optimizing intra-operative performance, improving detection of foot and ankle pathology, understanding ankle kinematics, and rehabilitating post-surgically. Future research should work to incorporate robotics specifically into surgical procedures as other specialties within orthopaedics have done, and to further individualize machinery to patients, with the ultimate goal to improve perioperative and post-operative outcomes.

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Menasri, N., M. Zaoui, and A. Bouchoucha. "Detection and localization of isolated wear bearing faults of rotating machinery by spectral analysis." World Journal of Engineering 10, no. 6 (December 1, 2013): 565–72. http://dx.doi.org/10.1260/1708-5284.10.6.565.

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Rotating machines play a strategic role in a manufacturing process, and it is the case of a cement mill. These machines are composed of fragile bodies (bearings and gears, etc.) subjected to mechanical stress and harsh industrial environment.Sources of failure are many; the wear and the spalling of bearing, the wear and fracture of a tooth of a gear, the misalignment of the axes, etc. To avoid unexpected downtime and costly, those bodies must be monitored continuously. There are several ways to do that; vibration analysis, lubricant analysis, infrared thermography and acoustic analysis. Vibration analysis (frequency) is most often used by operating a signal from an accelerometer. Whenever a fault participated in a contact, it changed the vibration characteristics of the system. By analyzing the acceleration measurements from an accelerometer, we can identify and quantify these changes in order to establish a relationship between the measures and the type of defect, which will be used as signatures for fault diagnosis system. In a system of power transmission (gear unit of a cement mill) the frequency of occurrences of faults can be known from the geometry and kinematics of the system.This article deals with the detection of bearing defects isolated in a gear unit of a cement mill by spectral analysis of vibration; which based on a systematic analysis spectral and envelope spectrum of vibration signal for the presence of images of all vibrational defects may affect the body in question.

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Lin, Xintao, Yue Zhu, and Zheng Xie. "Mechanics Modeling and Simulation Analysis of a Novel Articulated Chassis for Forestry." Sustainability 14, no. 23 (December 2, 2022): 16118. http://dx.doi.org/10.3390/su142316118.

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When the power chassis of general forest machinery is working on uneven terrains, the power is insufficient due to the poor traction between the wheels and the road surface, which affects the driving operation of the entire vehicle. According to the principle of multiple-degree-of-freedom profiling, a novel articulated chassis for forestry was designed. The innovative articulated structure realizes active pitching, active deflection, and passive torsion in the front and rear frames. The kinematics and dynamics (mechanics modeling) of the articulated structure were analyzed, and a theoretical model of the relationship between the rotation angle of the rotary shaft and the pitching angle of the front and rear frames was established. A three-dimensional model of the forestry chassis was established using SolidWorks, and a kinematic simulation of the articulated structure was performed by ADAMS. When the simulation and theoretical results were compared, the maximum error was found to occur at the position where the rotation angle of the rotary shaft was 90° and was less than 1%, demonstrating the accuracy of the theoretical model. Furthermore, a chassis working condition simulation experiment was conducted using ADAMS. When climbing a slope with a wheel speed of 1.39 rev/s, the duration of the effective driving force of the front wheels of the novel chassis was 61.5% longer than the ordinary chassis. In steep-convex-obstacle climbing, the active pitch function of the novel chassis can ensure that the wheels have a good contact with the road, and the load can pass through an obstacle smoothly. For single-side obstacle crossing, the wheels of the novel chassis can provide a continuous and stable effective driving force for obstacle crossing owing to the excellent road surface profiling.

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Kang, Di, Ze Jun Chen, You Hua Fan, Cheng Li, Chengji Mi, and Ying Hong Tang. "Optimization on kinematic characteristics and lightweight of a camellia fruit picking machine based on the Kriging surrogate model." Mechanics & Industry 22 (2021): 16. http://dx.doi.org/10.1051/meca/2021017.

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In order to achieve fully automated picking of camellia fruit and overcome the technical difficulties of current picking machinery such as inefficient service and manual auxiliary picking, a novel multi-links-based picking machine was proposed in this paper. The working principle and process of this device was analyzed. The mechanism kinematics equation was given, and the velocity executive body was obtained, as well as the acceleration. The acceleration at pivotal positions was tested in the camellia fruit forest, and the simulated results agreed well with the experimental ones. Then, the maximum acceleration of executive body and weight was considered as the optimization objective, and the rotating speed of crank, the radius and thickness of crank and the length and radius of link rod were regarded as the design variable. Based on the Kriging surrogate model, the relationship between variables and optimization objectives was built, and their interrelations were analyzed. Finally, the optimal solution was acquired by the non-dominated sorting genetic algorithm II, which resulted in the reduction of the maximum acceleration of executive body by 31.30%, as well as decrease of weight by 27.51%.

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Cai, Lin. "Kinematic Analysis of 5-UPS Parallel Machine Tool Based on Adams." Applied Mechanics and Materials 644-650 (September 2014): 215–19. http://dx.doi.org/10.4028/www.scientific.net/amm.644-650.215.

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In this paper, the kinematics of 5-UPS parallel machine tool is analyzed, and a kinematic analysis method combining kinematic analysis and computer kinematics software is proposed. Under the premise that the parallel machine tool sector parameters is known, firstly we use the vector method to establish a mathematical model of inverse kinematics, and in accordance with a U-shaped processing trajectory the inverse solution is calculated; Secondly, three-dimensional model of the parallel machine tool is modeled in Adams, and kinematic constraints are set correctly; Finally, the inverse kinematics solution of the mathematical model is used as the Adams drive input, then the positive solutions is carried out. Compared through the Adams simulation results with U-machining path, it is verified that the inverse solution of the mathematical model and parallel machine tool bodies both are correct, it has certain significance for Parallel machine tools and other parallel robot kinematics analysis.

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Sharhorodskiy, Serhiy, and Dmutro Kondratuk. "STUDY OF THE KINEMATICS OF THE POSITIONING MECHANISMS OF WIDE-GRIP MACHINE-TRACTOR UNITS." ENGINEERING, ENERGY, TRANSPORT AIC, no. 4(123) (December 2, 2023): 51–61. http://dx.doi.org/10.37128/2520-6168-2023-4-6.

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As stated in the humanitarian food program "Grain from Ukraine", launched by the President of Ukraine Volodymyr Zelenskyi: "The demand for agricultural products in the world is growing by 2-3% every year, and the shortage of grain on the markets of Africa and Asia may reach 10-15% already in 2024". Therefore, the issue of production of agricultural products is relevant today. As the analysis of the market of agricultural machinery shows, one of the directions of the development of the design of agricultural units is to increase the width of grip of tools for soil cultivation and plant care. The use of agricultural units with an increased working width has certain advantages: - reduction of the number of passes of equipment on the ground; - reduction of fuel consumption; - reducing the negative impact of the unit on soil density. Among the disadvantages of this type of aggregates should be attributed the increase in turning radii, as a result of the increase in width. It is possible to eliminate this shortcoming by quickly transferring the unit from the working position to the transport position and vice versa. To fulfill this task, a review of known designs of wide-grip aggregates was carried out. Known hydraulic drives for raising and lowering and folding and unfolding sections are considered. A kinematic diagram of the mechanism of rotation of the extreme section of the cultivator relative to the frame has been developed. Based on this calculation scheme, the reactions in the hinges were determined and the graphical dependencies of the mutual location of individual elements with respect to the angle of rotation φ were calculated. The existing hydraulic positioning mechanisms, which are equipped with chainless wide-grip machines and tools with articulated frames, do not provide the necessary maneuvering properties of MTA during their movement on the turning lane. Equipping hydroficated positioning mechanisms with follower stabilizing devices is a promising direction for improving hydraulic drives of machine-tractor units, which create prerequisites for reducing the turnaround time on the turning lane by selecting the parameters of the specified equipment. The most important factor affecting the stability of the positioning of the sections of wide-grip machine-tractor units is the variable load that occurs on the hydraulic cylinder rod at the moment of turning the sections around the horizontal hinges at an angle of more than 90⸰, which causes inconsistency in the flows of the working fluid entering and leaving the hydraulic cylinder , which leads to the interruption of the flow in the cavity of the hydraulic cylinder, which is connected to the injection hydraulic line.

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Journal articles on the topic 'Machinery, Kinematics of'

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