Збірники наукових праць ЦНТУ
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Item type:Item, Дослідження рухових можливостей кінематичних ланок МПС при формоутворюючих рухах осьовим інструментом(ЦНТУ, 2025) Вахніченко, Д. В.; Годунко, М. О.; Писанка, С. В.; Vakhnichenko, D.; Hodunko, M.; Pysanka, S.В статті виконано кінематичний аналіз формоутворюючих рухів верстату з механізмом паралельної структури (МПС) при виконанні типових технологічних операцій. Розглянуто математичну модель верстату типу «гексапод» при виконанні даних операцій, таких як свердління та фрезерування. Досліджено рухові можливостей кінематичних ланок МПС при лінійних, площинних та просторових формоутворюючих рухах. Визначено залежності між координатними рухами інструменту в процесі обробки та зміною довжини кінематичних ланок МПС. Any proposed design of a machine with parallel kinematics machine (PKM) requires justification of the choice of design parameters and technical characteristics for the further implementation of this equipment in production. Since the coordinate movements of the executive body for the implementation of the technological operation associated with the processing of parts are performed by kinematic links, the indicator of the motor capabilities of the kinematic links of the PKM during the shaping process was investigated. To carry out research in the MathCad, a general mathematical model of the design of a machine with PKM. First of all, boring and drilling schemes are considered, in which the tool moves along one or more coordinates simultaneously. Then, processing according to technological schemes with complex tool motion trajectories is considered, milling in a plane according to the technological schemes: along an astroid, along an Archimedean spiral, along an elongated cycloid and along an epicycloid. The change in the length of kinematic links during typical technological movements in space is considered according to the processing schemes along a cylindrical and conical helical line etc.Item type:Item, Синтез профілю зубчатих коліс малошумного шестеренного насоса з низькою пульсацією(ЦНТУ, 2023) Скібінський, О. І.; Гнатюк, А. О.; Годунко, М. О.; Богатирьов, Д. В.; Селєхова, В. М.; Skibinskyi, О.; Gnatuk, A.; Hodunko, M.; Bohatyrov, D.; Seliekhova, V.Розроблено математичний апарат для побудови робочих профілів шестерень малошумних насосів синусоїдального зачеплення з довільними геометричними параметрами і кількістю зубців, що дає можливість широкого впровадження перспективного виду зачеплення в конструкції гідравлічних машин. Встановлено, що застосування прямозубих шестерень із синусоїдальним зачепленням не забезпечує нерозривності контакту і приводить до зниження експлуатаційних показників шестеренних насосів, а використання косозубих шестерень забезпечує постійність контакту плоского зачеплення в будь-якому поперечному перерізі. Встановлено мінімальне значення кута нахилу зубців для забезпечення нерозривності контакту в зачепленні, надійного перекриття та відсутності зазорів. Low-noise gear pumps with non-involute gear profiles, which have undeniable advantages over pumps with involute gear profiles (low noise characteristics, low pressure and volumetric pulsation, inseparability of gear contact), have not gained wide popularity due to difficulties in designing and manufacturing the working profiles of the gears. Companies manufacturing low-noise pumps provide only promotional information, while information about the meshing geometry, profile, and manufacturing technology is practically absent. The aim of the research is to obtain universal formulas for calculating the complex sinusoidal profile of gears for low-noise pumps. This will allow designing sinusoidal meshings with different input parameters (number of teeth, center distance, etc.). Additionally, for the helical sinusoidal meshing, it is necessary to derive a formula for determining the minimum tooth helix angle that ensures inseparability of contact in the meshing. Several stages are involved in obtaining the universal formulas. In the first stage, the construction of a base sinusoidal curve is performed. The obtained profile is not mutually enveloping, meaning that when positioning the gears at the center distance and forming the meshing, there is interference of curves. Hence the need for forming a unified profile where both gears have identical profiles and can be processed by the same tool. In the second stage, the generation of the conjugate gear profile is performed as an enveloping family of circular sine waves, by rolling a dividing circle of the sine wave around the generating circle of the formed gear. Segments of this profile will be further involved in forming the final gear profile. In the third stage, the circular sine wave and its enveloping positions are overlaid to a common center of coordinates. As a result, the conjugate profile points lying on the dividing circle are formed. The unification of the gear profile is achieved by removing certain sections of the curve within the dedendum and addendum, while the remaining sections that have a common tangent at the end points of the conjugation form the final gear profile. As a result of the conducted research, a mathematical apparatus has been developed that allows building gear tooth profiles for low-noise gear pumps with arbitrary geometric parameters and number of teeth. The minimum value of the tooth helix angle required to ensure contact inseparability and absence of clearances has been determined.Item type:Item, Розробка методики силового розрахунку вертикально орієнтованого захватного пристрою(ЦНТУ, 2023) Годунко, М. О.; Кислун, О. А.; Мажара, В. А.; Щербина, В. К.; Кравченко, Р. А.; Клюшкін, В. В.; Hodunko, M.; Kyslun, О.; Mazhara, V.; Shcherbyna, V.; Kravchenko, R.; Klyushkin, V.Виконано обґрунтування силового розрахунку важільних захватних пристроїв роботів із врахуванням їх конструктивних параметрів та умов функціонування. Виведено рівняння для розрахунку сил затиску в захватному пристрої та на основі цих рівнянь побудовано залежності сил затиску від приведених умов. На основі побудованих залежностей зроблено висновки та надано відповідні рекомендації по виконанню та функціонуванню захватних пристроїв роботів. Based on the main purpose of industrial robots, their gripping devices must provide reliable clamping of the parts they hold in different directions and modes of their movement and perform the necessary operations (installation, connection, pressing of parts, etc.). The process of transportation and positioning itself must be carried out in compliance with the following requirements: the maximum appropriate speed or acceleration; necessary accuracy; minimal force loads on the robot grip and structure; the necessary quality of the operation; minimum energy requirements; compliance with the necessary requirements for the safety of operations, etc. In addition, the gripping devices of robots should be versatile enough to be able to work with different parts in shape and size, as well as perform maintenance of different equipment, working with different devices, etc. Therefore, functional studies of gripping devices are quite important. One of the directions of such research is the creation of a methodology for force calculations taking into account the conditions discussed above, therefore the task is relevant today. During the period of existence and development of industrial robotics, the issue of force calculation of their gripping devices has always been relevant due to the fact that this is a working body that is constantly in contact with production objects of various shapes, materials and properties. In the process of manipulating production objects, they must not be damaged, while the robot's work cycle must also be precisely worked out in a certain period of time according to the production cycle. All these issues were considered most thoroughly in the studies of I.I. Pavlenka [1, 4], ShimonY. Nof, G.J. Monkman [3], Ya.I. Prots [2] and others. Particular attention was paid to the power of gripping devices in the works of I.I. Pavlenko. These studies are taken as the basis of the idea of substantiating the operating conditions of gripping devices and creating a methodology, different approaches to force calculation with its subsequent use in the design of these executive modules, as well as in the correcting programs of the industrial robot. Thus, the purpose of the scientific work is to study the power characteristics of the gripping device of an industrial robot under different conditions of its operation, to derive formulas for determining the minimum necessary clamping forces of the part, and to build the dependence of the calculated forces on the design characteristics of the gripper. It is worth noting that the relevance of this issue has increased many times today. This is due to the use of robotics not only in production, but also for military purposes. Industrial robots (manipulators) are used in the machine-building industry, which serve the main technological equipment, and in military affairs - mobile robots with built-in manipulators for taking dangerous objects. The method of force calculation proposed by us consists in determining the minimum necessary clamping forces.Item type:Item, Дослідження кутових переміщень платформи МПС із ріжучим інструментом(ЦНТУ, 2020) Павленко, I. I.; Годунко, М. О.; Кислун, О. А.; Костюк, Є. С.; Pavlenko, I.; Hodunko, M.; Kyslun, O.; Kostyuk, E.; Павленко, И. И.; Костюк, Е. С.В статті виконано аналітичний розрахунок величини переміщення виконавчого органу верстата з механізмом паралельної структури (МПС) по лініям в поперечному напрямку під кутом. Досліджено вплив конструктивних параметрів МПС на значення цих переміщень виконавчого органу. For the manufacture of parts of complex shapes, it becomes necessary to move the cutting tool along the line at a certain angle. For this, machines equipped with mechanisms of parallel structure are used. Only a study of the movable capabilities of these mechanisms makes it possible to introduce them into production. The studies focus on the transverse movement of the center of the moving platform of the parallel structure mechanism for a hexapod machine, as a material point moving along a line depending on the angle of contact of the tool and the perpendicular to the plane of the work surface (axis of symmetry of the mechanism). To determine the possible positions of the center of the moving platform, we consider a generalized scheme of the parallel structure mechanism. Given the restrictions on movement, the area of possible positions is divided into zones: Zrp - without a cutting tool; Zri - the zone of positions of the top of the instrument. The part that is being processed is installed on the technological device, which is placed on the basis of a parallel structure mechanism. Parameters of a machine with a parallel structure mechanism: a, b - distance between the supports of the stationary carrier system and the executive body, respectively; Lmax is the maximum length of the kinematic links; lmin is the minimum length of the kinematic links; li is the current length of the kinematic links; l is the magnitude of the transverse movement; φ is the angle of inclination of the executive body; hi is the current position of the executive body of the mechanism of the parallel structure in height. The assessment of motor capabilities is determined by the displacement index, which is the ratio of the actual displacement value l to the theoretically possible one (taken equal to the maximum rod length Lmax). From the above dependencies it is seen that the influence of the motor capabilities of the rods on the relative displacement provides an increase in the displacement index in the indicator section from 0.45 to 0.65, then the section that is affected by the slope of the displacement line, with a decrease in which the displacement in the area of0.8 up to 1 movement decreases again, this is due to the complex geometry of the service area ofthe working space of the machine with a parallel structure mechanism. On the effect of the ratio of the sizes of the movable to the fixed platform on the relative displacement, we have that with an increase in the indicator, the initial indicator of the relative displacement also increases, with a value of the exponent n starting from 0.6 its value decreases in all cases. The influence of the ratio of the maximum displacement of the rods to the size of the fixed platform, on the relative displacement has the opposite of the previous character. With an increase in the indicator m, the relative displacement indicator increases, with a further increase in the indicator m, it can be seen that significantly decreases the displacement indicator and with a value less than 0.6. В статье выполнен аналитический расчет величины перемещения исполнительного органа станка с механизмом параллельной структуры (МПС), по линиям в поперечном направлении под углом. Исследовано влияние конструктивных параметров МПС на значение этих перемещений исполнительного органа.