ПРО НЕПЕРІОДИЧНІ КОЛИВАННЯ ПРИ ДИНАМІЧНИХ НАВАНТАЖЕННЯХ ВИКОНАВЧОГО МЕХАНІЗМУ МОБІЛЬНИХ ВЕРСТАТІВ З ПАРАЛЕЛЬНОЮ КІНЕМАТИКОЮ

Abstract

Urgency of the research. A special place in the development of mechano-assembly production begins to occupy equipment based on mechanisms with parallel kinematics. Their advantages are manifested in their low metal capacity, energy intensity, dynamism, and also in kinematic possibilities. However, one of the important tasks in constructing such machines is a dynamic analysis of the executive branch; therefore research in this direction is relevant.Target setting. In forecasting the operational characteristics of mobile robot machines on the basis of mechanisms with parallel kinematics, the dynamic analysis of the executive part of the machine tool system is an important task, the solution of which is expedient to perform on the basis of attracting funds simulation behavior of the spatial structures of the spatial structure.Actual scientific researches and issues analysis. On the basis of the analysis of recent studies, we can conclude that the design of machines and mechanisms crucial role in choosing the parameters of the future product has a reasonable prediction of its performance indicators, based on strength and strength calculations. At the same time, the indicators of the expected accuracy of the executive motions of the product are determined based on the chosen calculation schemes, which are based on a number of assumptions that allow them to be reduced to solvable mathematical constructions – the equation of statics and dynamics.Uninvestigated parts of general matters defining. In some cases, assumptions in calculations in the design of machines, allow you to find common solutions that are based on the established modes of operation of the product, but drop some cases that are of practical interest and are not trivial. This applies, first of all, to the dynamic processes that can accompany the projected product.The research objective. Conduct an analysis of the executive part of the machine system based on the attraction of the simulation behavior of spatial structures.The statement of basic materials. In the course of the study, a calculation scheme was proposed that allowed an analysis of the dynamics of the design features, and is represented by a spatial mass system m suspended in space on flexible elements with rigidity parameters cx, cy, cz and damping hx, hy, hz.. For this system, within the limits of small amplitudes, it has been stated that the frequency of the proper oscillations f0 can be calculated from the dependence of the frequency on mass and stiffness. The scheme for dynamic analysis of the executive branch of the machine with parallel kinematics consisting of a body of mass m, suspended on two springs with rigidity c1 and c2, is presented. For this scheme a mathematical description of the harmonic oscillator, which is the executive link of the mobile machine, is taken, if we take into account the perturbing effect. To study the peculiarities of the dynamics of the loaded executive part of the mobile machine, an imitation model was created in the Simulink computer environment. At given values, the reaction of the model to forced harmonic oscillations is obtained. The magnitude of the amplitudes in such a model does not exceed 2 mm, however, deserves attention to the quasi-random nature of oscillations, although the equilibrium effect has a sinusoidal form.Conclusions. The obtained result suggests that oscillations with a wide frequency and amplitude spectrum arise in the executive link of the mobile machine, which can cause resonance of the elements of the technological system over a wide range of frequencies. Such a mode of operation of mobile machines with mechanisms of parallel kinematics should be taken into account in the design of technological processes and in the technological preparation of production in order to ensure the productivity and accuracy of equipment throughout its lifetime.