Pub Date : 2023-12-28DOI: 10.1134/s1052618823080022
V. L. Afonin, V. V. Sleptsov, M. G. Yakovlev
Abstract
The position and force control of a robotic system to perform high-precision operations for machining complex surfaces are considered. A block diagram of the position and force control system is presented, and computations and calculations of the velocity of the longitudinal displacement and its relationship with the transverse displacement and pressure force between the cutting edge of the tool and the machining surface are provided. The structure of the system generating force action and the modeling of this system in the Matlab–Simulink system are described.
{"title":"Position and Force Control of a Robotic System for High Precision Machining of Complex Surfaces","authors":"V. L. Afonin, V. V. Sleptsov, M. G. Yakovlev","doi":"10.1134/s1052618823080022","DOIUrl":"https://doi.org/10.1134/s1052618823080022","url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>The position and force control of a robotic system to perform high-precision operations for machining complex surfaces are considered. A block diagram of the position and force control system is presented, and computations and calculations of the velocity of the longitudinal displacement and its relationship with the transverse displacement and pressure force between the cutting edge of the tool and the machining surface are provided. The structure of the system generating force action and the modeling of this system in the Matlab–Simulink system are described.</p>","PeriodicalId":642,"journal":{"name":"Journal of Machinery Manufacture and Reliability","volume":null,"pages":null},"PeriodicalIF":0.3,"publicationDate":"2023-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139068468","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-28DOI: 10.1134/s1052618823070178
A. I. Munitsyn, L. N. Krainova
Abstract
We treat the problem of the motion of a heavy flat body along an inclined plane under the action of two harmonic forces in the vertical and horizontal directions. The interaction of the body and the inclined surface is taken into account according to the dry friction model. An analytical solution of the problem for periodic solutions is obtained. Four possible modes of motion have been revealed. The dependences of the characteristic phases and the average speed of movement over the period on the amplitude of harmonic forces are constructed. Conditions are obtained under which a body can move up an inclined plane.
{"title":"Vibrational Movement of a Solid Body along an Inclined Surface","authors":"A. I. Munitsyn, L. N. Krainova","doi":"10.1134/s1052618823070178","DOIUrl":"https://doi.org/10.1134/s1052618823070178","url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>We treat the problem of the motion of a heavy flat body along an inclined plane under the action of two harmonic forces in the vertical and horizontal directions. The interaction of the body and the inclined surface is taken into account according to the dry friction model. An analytical solution of the problem for periodic solutions is obtained. Four possible modes of motion have been revealed. The dependences of the characteristic phases and the average speed of movement over the period on the amplitude of harmonic forces are constructed. Conditions are obtained under which a body can move up an inclined plane.</p>","PeriodicalId":642,"journal":{"name":"Journal of Machinery Manufacture and Reliability","volume":null,"pages":null},"PeriodicalIF":0.3,"publicationDate":"2023-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139068526","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-28DOI: 10.1134/s1052618823080071
F. R. Ismagilov, V. E. Vavilov, O. A. Yushkova, E. A. Pronin, A. A. Zherebtsov
Abstract
Dual-phase magnetic material having nonmagnetic characteristics in particular zones is a promising material for application in electrical engineering. This paper presents a comparative analysis of the parameters of a starter–alternator with incorporated permanent magnets under the traditional electrical steel 2421 replacement in the rotor by a dual-phase magnetic material. We investigated the electric machine characteristics in the starter and alternator regimes using the Ansys Electronics Desktop software; we also studied the strength characteristics of the rotor made of a dual-phase magnetic material.
{"title":"Characteristics of the Starter–Alternator with Incorporated Permanent Magnets Made of a Dual-Phase Magnetic Material Rotor","authors":"F. R. Ismagilov, V. E. Vavilov, O. A. Yushkova, E. A. Pronin, A. A. Zherebtsov","doi":"10.1134/s1052618823080071","DOIUrl":"https://doi.org/10.1134/s1052618823080071","url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>Dual-phase magnetic material having nonmagnetic characteristics in particular zones is a promising material for application in electrical engineering. This paper presents a comparative analysis of the parameters of a starter–alternator with incorporated permanent magnets under the traditional electrical steel 2421 replacement in the rotor by a dual-phase magnetic material. We investigated the electric machine characteristics in the starter and alternator regimes using the Ansys Electronics Desktop software; we also studied the strength characteristics of the rotor made of a dual-phase magnetic material.</p>","PeriodicalId":642,"journal":{"name":"Journal of Machinery Manufacture and Reliability","volume":null,"pages":null},"PeriodicalIF":0.3,"publicationDate":"2023-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139064070","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-28DOI: 10.1134/s105261882308006x
R. F. Gaffanov, K. A. Myagkov, D. I. Zhuk, S. S. Amelin, I. A. Leshakov
Abstract
A comparison of calculations of a check valve operating on a gaseous medium by numerical and numerical–analytical methods is given, the influence of the sound pressure level in the valve on the flow velocity is considered, and the influence of the valve walls on propagation of noise in a room is considered using numerical and analytical methods.
{"title":"Comparative Analysis of Numerical and Analytical Calculation of the Sound Pressure Parameters during Operation of Shut-Off Valves with a Gaseous Medium","authors":"R. F. Gaffanov, K. A. Myagkov, D. I. Zhuk, S. S. Amelin, I. A. Leshakov","doi":"10.1134/s105261882308006x","DOIUrl":"https://doi.org/10.1134/s105261882308006x","url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>A comparison of calculations of a check valve operating on a gaseous medium by numerical and numerical–analytical methods is given, the influence of the sound pressure level in the valve on the flow velocity is considered, and the influence of the valve walls on propagation of noise in a room is considered using numerical and analytical methods.</p>","PeriodicalId":642,"journal":{"name":"Journal of Machinery Manufacture and Reliability","volume":null,"pages":null},"PeriodicalIF":0.3,"publicationDate":"2023-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139064073","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-28DOI: 10.1134/s1052618823070026
A. Yu. Albagachiev, A. B. Tokhmetova, S. V. Skripnik
Abstract
The relevance of the use of lubricating oil containing carbon nanotubes during the deposition process has been shown. The technique of experimental studies during deposition of cylindrical blanks has been described. Tests were carried out during deformation of the samples printed on a 3D printer. As a result of this experimental study, it has been shown that the introduction of carbon nanotubes into engine oil reduces the friction coefficient.
摘要 在沉积过程中使用含有碳纳米管的润滑油具有重要意义。本文介绍了圆柱形坯料沉积过程中的实验研究技术。在 3D 打印机上打印的样品变形过程中进行了测试。实验结果表明，在发动机油中引入碳纳米管可降低摩擦系数。
{"title":"The Efficiency of Engine Oil Containing Carbon Nanotubes during the Deposition Process","authors":"A. Yu. Albagachiev, A. B. Tokhmetova, S. V. Skripnik","doi":"10.1134/s1052618823070026","DOIUrl":"https://doi.org/10.1134/s1052618823070026","url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>The relevance of the use of lubricating oil containing carbon nanotubes during the deposition process has been shown. The technique of experimental studies during deposition of cylindrical blanks has been described. Tests were carried out during deformation of the samples printed on a 3D printer. As a result of this experimental study, it has been shown that the introduction of carbon nanotubes into engine oil reduces the friction coefficient.</p>","PeriodicalId":642,"journal":{"name":"Journal of Machinery Manufacture and Reliability","volume":null,"pages":null},"PeriodicalIF":0.3,"publicationDate":"2023-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139064022","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-28DOI: 10.1134/s1052618823080095
A. M. Keropyan, A. Yu. Albagachiev
Abstract
As a result of theoretical studies, it is established that the traction force of quarry locomotives is significantly affected by the temperature in the contact zone of the wheel–rail system, the contact zone microgeometry, the macrogeometry of the interacting surfaces, and the axial load. It is determined that, in order to ensure the strength criterion and taking into account the increased axial loads of quarry locomotives, it is necessary to limit the temperature in the contact zone of the wheel–rail system within 300°C by controlling the speed of the wheel slip on the rail. It is found that for the interacting surfaces it is necessary to ensure conditions peculiar to plastic-saturated contact for effective functioning of quarry rail transport.
{"title":"Degree of Impact of Dominant Factors of the Working Surfaces of the Wheels of Quarry Locomotives in the Area of Their Contact with the Rails on Their Traction Capacity","authors":"A. M. Keropyan, A. Yu. Albagachiev","doi":"10.1134/s1052618823080095","DOIUrl":"https://doi.org/10.1134/s1052618823080095","url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>As a result of theoretical studies, it is established that the traction force of quarry locomotives is significantly affected by the temperature in the contact zone of the wheel–rail system, the contact zone microgeometry, the macrogeometry of the interacting surfaces, and the axial load. It is determined that, in order to ensure the strength criterion and taking into account the increased axial loads of quarry locomotives, it is necessary to limit the temperature in the contact zone of the wheel–rail system within 300°C by controlling the speed of the wheel slip on the rail. It is found that for the interacting surfaces it is necessary to ensure conditions peculiar to plastic-saturated contact for effective functioning of quarry rail transport.</p>","PeriodicalId":642,"journal":{"name":"Journal of Machinery Manufacture and Reliability","volume":null,"pages":null},"PeriodicalIF":0.3,"publicationDate":"2023-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139064020","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-28DOI: 10.1134/s1052618823080034
A. S. Archibasov, A. Yu. Popov, E. V. Vasil’ev
Abstract
When designing robot drives and machine tool systems, it is necessary to ensure that there are no backlashes or deformations of elastic links in joint couplings and gears, which minimizes angular errors. This can be achieved by creating backlash-free gears. Currently, worm and planetary backlash-free designs are common having either significant dimensions or low rotational speeds.
{"title":"A Backlash-Free Gear Coupling","authors":"A. S. Archibasov, A. Yu. Popov, E. V. Vasil’ev","doi":"10.1134/s1052618823080034","DOIUrl":"https://doi.org/10.1134/s1052618823080034","url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>When designing robot drives and machine tool systems, it is necessary to ensure that there are no backlashes or deformations of elastic links in joint couplings and gears, which minimizes angular errors. This can be achieved by creating backlash-free gears. Currently, worm and planetary backlash-free designs are common having either significant dimensions or low rotational speeds.</p>","PeriodicalId":642,"journal":{"name":"Journal of Machinery Manufacture and Reliability","volume":null,"pages":null},"PeriodicalIF":0.3,"publicationDate":"2023-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139064024","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-28DOI: 10.1134/s1052618823070051
A. K. Anoprienko, Yu. V. Romanova
Abstract
The influence of extremely low temperatures on the strength characteristics of adhesive-riveted joints made of aluminum of AMg3M grade with different types of polymeric materials is analyzed.
摘要 分析了极低温度对 AMg3M 级铝与不同类型聚合物材料粘合铆接接头强度特性的影响。
{"title":"Analysis of the Effect of Negative Temperature on the Strength of Adhesive-Riveted Joints Made of Aluminum Alloys","authors":"A. K. Anoprienko, Yu. V. Romanova","doi":"10.1134/s1052618823070051","DOIUrl":"https://doi.org/10.1134/s1052618823070051","url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>The influence of extremely low temperatures on the strength characteristics of adhesive-riveted joints made of aluminum of AMg3M grade with different types of polymeric materials is analyzed.</p>","PeriodicalId":642,"journal":{"name":"Journal of Machinery Manufacture and Reliability","volume":null,"pages":null},"PeriodicalIF":0.3,"publicationDate":"2023-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139068467","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-18DOI: 10.1134/s1052618823060109
O. A. Leonov, N. Zh. Shkaruba, L. A. Grinchenko, D. A. Pupkova, D. U. Khasyanova
Abstract
The factors influencing the reliability and durability of the joint between a shaft and a rubber reinforced seal are analyzed. It has been established that the theory of tightness of such joints has not yet been developed. The quality of a joint is usually assessed by the amount of leakage. It has been revealed that the amount of leakage depends on the materials from which the shaft and seal are manufactured, the roughness of the shaft surface, the presence of dust in the friction zone, the quality of the sealed liquid, and the operating temperature. In addition, the durability of the work is influenced by macrogeometry parameters like deviation from the perpendicularity of the seal to the shaft, deviation from coaxiality, and radial runout of the shaft. A multifactorial experiment has been carried out, as a result of which an empirical relationship has been established between the radial runout of the shaft, rotational speed, and interference in the joint according to the criterion of the onset of leaks. Analysis of the obtained dependence showed that the radial runout should be compensated by interference in the joint, and with an increase in the rotation speed, the compensation value should be greater due to the fact that the working edge of the seal does not have time to follow the shaft. An empirical relationship between the amount of interference and leakage has been obtained, which indicates that with lower interference, leakage will be greater. The research results can be used at the stage of designing assembly units with seals to reduce the influence of radial runout and deviations from the coaxiality of the shaft relative to the seal.
{"title":"Study of the Influence of Macrogeometry Parameters on the Tightness of Shaft–Seal Joints","authors":"O. A. Leonov, N. Zh. Shkaruba, L. A. Grinchenko, D. A. Pupkova, D. U. Khasyanova","doi":"10.1134/s1052618823060109","DOIUrl":"https://doi.org/10.1134/s1052618823060109","url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>The factors influencing the reliability and durability of the joint between a shaft and a rubber reinforced seal are analyzed. It has been established that the theory of tightness of such joints has not yet been developed. The quality of a joint is usually assessed by the amount of leakage. It has been revealed that the amount of leakage depends on the materials from which the shaft and seal are manufactured, the roughness of the shaft surface, the presence of dust in the friction zone, the quality of the sealed liquid, and the operating temperature. In addition, the durability of the work is influenced by macrogeometry parameters like deviation from the perpendicularity of the seal to the shaft, deviation from coaxiality, and radial runout of the shaft. A multifactorial experiment has been carried out, as a result of which an empirical relationship has been established between the radial runout of the shaft, rotational speed, and interference in the joint according to the criterion of the onset of leaks. Analysis of the obtained dependence showed that the radial runout should be compensated by interference in the joint, and with an increase in the rotation speed, the compensation value should be greater due to the fact that the working edge of the seal does not have time to follow the shaft. An empirical relationship between the amount of interference and leakage has been obtained, which indicates that with lower interference, leakage will be greater. The research results can be used at the stage of designing assembly units with seals to reduce the influence of radial runout and deviations from the coaxiality of the shaft relative to the seal.</p>","PeriodicalId":642,"journal":{"name":"Journal of Machinery Manufacture and Reliability","volume":null,"pages":null},"PeriodicalIF":0.3,"publicationDate":"2023-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138716675","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-12-18DOI: 10.1134/s1052618823060080
V. A. Glazunov, P. A. Laryushkin, K. A. Shalyukhin
Abstract
A mechanism with a remote center of rotation, intended for use in medicine, and in particular, minimally invasive operations, is discussed. The basic mechanism consists of two parallelograms with common links, which allows the surgical instrument to duplicate the movement of the drive link of the mechanism. To ensure greater rigidity of the mechanism, it is proposed to introduce drive redundancy through the use of an additional RRR dyad with a drive pair. The position problem has been solved for the resulting mechanism. A 3D model and a prototype of the mechanism have been also presented.
{"title":"Structure, Kinematics, and Prototyping of a Parallel Manipulator with a Remote Center of Rotation","authors":"V. A. Glazunov, P. A. Laryushkin, K. A. Shalyukhin","doi":"10.1134/s1052618823060080","DOIUrl":"https://doi.org/10.1134/s1052618823060080","url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>A mechanism with a remote center of rotation, intended for use in medicine, and in particular, minimally invasive operations, is discussed. The basic mechanism consists of two parallelograms with common links, which allows the surgical instrument to duplicate the movement of the drive link of the mechanism. To ensure greater rigidity of the mechanism, it is proposed to introduce drive redundancy through the use of an additional RRR dyad with a drive pair. The position problem has been solved for the resulting mechanism. A 3D model and a prototype of the mechanism have been also presented.</p>","PeriodicalId":642,"journal":{"name":"Journal of Machinery Manufacture and Reliability","volume":null,"pages":null},"PeriodicalIF":0.3,"publicationDate":"2023-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138716270","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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