Kinematic Scheme Research Articles

Tiling Robotics: A New Paradigm of Shape‐Morphing Reconfigurable Robots

The ability of reconfigurable robots to adapt to varying tasks and environments furnishes versatility and efficiency in their operations. In this article, tiling robots are introduced as a novel paradigm of shape‐morphing reconfigurable robots, defining them as polyform‐inspired machines capable of transforming between at least two polymorphic shapes. In the study, the existing and future designs of tiling robots by varying base shapes and polygon selections are explored, identifying a significant gap for further exploration of polyforms in their design. The various reconfiguration‐enabling mechanisms and locomotion mechanisms of tiling robots are comparatively analyzed. Summarized electromechanical developments, along with a proposed generalized kinematic model and control scheme, contribute to a comprehensive understanding of tiling robots. A comparison of tiling robots with other established reconfigurable robots is conducted to position tiling robotics within the broader landscape of reconfigurable robotics. The introduction of a new naming convention addresses the absence of a standardized nomenclature for tiling robots. In this article, highlighting the current focus on area coverage in autonomy algorithms of tiling robots, future developments in diverse application domains like logistics, entertainment, and education are anticipated, emphasizing the adaptability of tiling robots as a critical feature for their proliferation across various domains.

Analysis of the third class mechanism using the modeling method in the Mathcad software environment

Purpose. To carry out a kinematic analysis of a flat twelve-link hinged mechanism with three leading links, the basis of which is a structural group of links of the third class of the fourth order with rotational kinematic pairs, which is used in technological equipment. Methodology. The kinematic study of a flat complex mechanism of the third class with three leading links was performed using the mathematical modeling method in the Mathcad software environment. Findings. Using the method of mathematical modeling, the mechanism was presented in the form of free vectors built on its links, for which, taking into account the presence of three leading links, three vector contours were selected, which made it possible to draw up a system of vector equations of their closedness with further solving by a numerical method in the Mathcad software environment. The functions of the rotation angles of the mechanism links, their angular velocities and accelerations were obtained in analytical and graphical form depending on the rotation angle of the first driving crank of the mechanism, the calculation of the angular velocities and accelerations of all the driven links of the mechanism was performed. Originality. A sequence was developed and a kinematic study of a complex planar mechanism of the third class with three leading links was done, the basis of which is a structural group of links of the third class of the fourth order. Schematic modeling of the mechanism with three leading links was performed, a visualization schedule of its kinematic scheme was built, and a valid version of its assembly was obtained from many possible ones, for which the values of kinematic parameters of all its links were determined. Practical value. An analysis of the effect of the kinematic parameters of the three leading links of the third-class mechanism on the movement of the working body of the technological equipment was carried out. From the analysis of the obtained research results for the cycle of the mechanism the reason was found for the incomplete technological stoppage of the link, which should provide the working body of the machine for the required period of time. Recommendations of the elimination were made to identify the deficiency and proposals for the need to improve the drive of this equipment.

Hybrid trajectory tracking control of wheeled mobile robots using predictive kinematic control and dynamic robust control

AbstractTrajectory tracking control of wheeled mobile robots (WMRs) is still a remarkable problem for many applications. In the present paper, a hybrid control is presented based on dynamic and kinematic equations of motion for wheeled mobile robots in the presence of the sum of the external disturbances and parametric uncertainty. The designed control for the WMR utilizes control and guidance to reach the reference path. In many studies, a control strategy is normally employed for WMR. However, in this study, hybrid control was used for the mentioned purpose. Akin to other studies, the kinematic control scheme here was based on the predictive control, and the dynamic control scheme was designed based on the robust control. Therefore, in this article, having introduced the kinematic model, a nonlinear predictive control was proved and designed. In the next step, a finite‐time integral type terminal sliding mode control (FITSMC) was designed based on the nonlinear dynamic model in order to automatically adjust the control gain and eliminate online disturbances and destructive chattering phenomena completely. In particular, a finite‐time disturbance observer was designed to estimate the external disturbances. The proof of the new proposed control scheme was presented using Lyapunov stability theory and numerical results. The mentioned integrated scheme, including predictive control (outer loop) and nonlinear adaptive control (inner loop), ensures the convergence and optimal tracking performance of all signals, as a result of which the tracking errors can arbitrarily converge to the origin in a finite time. In the final step, the simulation results were presented to show the effectiveness of the proposed scheme using MATLAB software, and the introduced control design was compared with a similar controller quantitatively and qualitatively.

Математическое моделирование бипланетарного механизма для привода смесительных машин

A study on the development of a kinematic scheme of a planetary mechanism with an opening kinematic circuit for driving the working body of mixing machines is presented. The main purpose of the study is to create two kinematic cycles in the planetary mechanism, in which, during one revolution, the satellite drivers consistently perform movements of the epicyclic trajectory of hypocyclic motion. To achieve this goal, braking devices for damping the kinematic energy of satellites and synchronizer devices were used in the transition zones between two segments of different names, for smooth entry of the satellite gear into the gear engagement of these gears. The oscillatory process of the synchronizer at the entrance of the tooth of the satellite gear with the front teeth of the synchronizer is considered. Practical significance includes ensuring the possibility of assembling a planetary mechanism, taking into account the choice of the angle of rotation of the synchronizer around the axis of the support. The discussion makes recommendations for further improvement of the developed biplanetary mechanism for driving mixing machines.

Формообразование задней поверхности многогранных твердосплавных пластин на шлифовально-заточных станках с ЧПУ

The purpose of the work is to obtain a mathematical expression for calculating the coordinates of the workpiece center in relative movements in accordance with the third shap ing scheme. A certain algorithm for modeling the third kinematic scheme of forming a part with a tool can be implemented by means of an automatic design system. It is noted that the main shaping movements – translational in the direction of the X axis, rotational around the B and C axes are controlled by a numerical control system. This method of grinding makes it possible to process the rear surfaces of plates of any shape, including plates with a clearance angle on the edges and tops. The models of the tool I and the workpiece are shown in the ini tial II and one of the intermediate positions III, the models of the workpiece and the tool for their various relative positions. A relationship has been established between the corresponding translational and rotational motion of the workpiece. The obtained dependences were used in the preparation of control programs on the VZ-700F4 machine tool for grinding multifaceted carbide inserts along the contour.

A mortar segment-to-segment frictional contact approach in material point method

Handling contact problems in the Material Point Method (MPM) has long been a challenge. Traditional grid-based contact approaches often face issues with mesh dependency, while material point-based methods can be computationally intensive. To address these challenges, this study develops a novel mortar segment-to-segment frictional contact approach for MPM. We first introduce boundary vertices and propose an innovative kinematic update scheme for precise representation of the boundaries of the continuum media and their continuously evolving contact normals throughout the contact process. Then, we construct a weak form of contact constraints based on the mortar method to facilitate a stable segment-to-segment contact detection. To rigorously ensure the non-penetration condition, the energetic barrier method is further adopted and implemented in MPM for enforcing the contact constraints. The proposed kinematic update scheme for boundary vertices is first verified through a cantilever beam benchmark test. The verified framework is further examined through a wide range of contact scenarios, including rolling, sliding, collision of two rings, and multi-body contacts, in both small and finite deformations. The simulation results are thoroughly discussed, highlighting the significant improvements in accuracy and versatility. Potential limitations of the proposed method are also examined.

Time-optimal constrained kinematic control of robotic manipulators by recurrent neural network

Time-optimal kinematic control is a vital concern for industrial manipulators to save allocated motion task time as much as possible. This requires maximizing the end-effector velocity to minimize the time required for path tracking. Nonetheless, it remains a challenge to ensure that joint motion constraints are not violated during this process, even with the aim of maximizing end-effector velocity simultaneously. This paper introduces a novel approach, which for the first time leverages dynamic recurrent neural networks (RNNs) within a constrained optimization framework to attain time-optimal kinematic control for manipulators. The theoretical analysis of the RNN-based kinematic control solver is addressed, ensuring both its optimality and convergence for achieving time-optimal kinematic control. The proposed method enables the maximization of end-effector velocity to achieve time-optimal kinematic control without violating all joint velocity limits simultaneously. In contrast to previous kinematic control schemes, the proposed method can enhance the end-effector path tracking speed of completion by 100% around, we substantiate the effectiveness and superiority of the proposed approach via simulation and V-Rep experiment on the manipulators.

Determining the coordinates of unmanned aerial vehicles

The purpose of the work was to develop a method for determining unmanned aerial vehicles’ (UAVs) coordinates, trajectory and parameters of their spatial movements by means of kinematic projection. The paper analyses the use of technologies for determining coordinates and spatial movements of aircraft trajectories. The principle of the kinematic scheme of fixing moving objects by means of orthogonal and kinematic design has been developed. The principle scheme of determining UAV coordinates by kinematic projection was studied. The theoretical mathematical dependencies of the determination and calculations of the coordinates of spatial movements of unmanned aerial vehicles have been practically verified. The main object of research in this work was the theory of kinematic design as a means of graphically displaying the patterns of spatial movements of objects. The subject of the study was the specific features of searching and recording the trajectories of spatial movements of unmanned aerial vehicles in order to determine the coordinates of their instantaneous location in space. In the process of conducting theoretical and experimental research, methods and techniques of physical and mathematical modelling of fast-moving processes and mathematical statistics of analysis and classification of their results were used. The basis of the experimental study was the theory of mapping coordinates and trajectories of spatial movements of moving objects by means of graphic geometry when combining classical orthogonal design with dynamic features of kinematic design. For an objective assessment of the results of the theoretical and experimental study of the dynamics of objects moving in space, the classical theory of research planning with a mathematical apparatus for processing their results was used. Graphical models of UAV coordinate fixation were made with the use of computer technology and the AutoCAD graphic editor software.

МЕХАНИЗМЫ РАЗРУШЕНИЯ РАСТИТЕЛЬНОГО СЫРЬЯ В ВАЛКОВОЙ ДРОБИЛКЕ С НАБОРНЫМИ ПЛАСТИНАМИ В ФОРМЕ РК-ПРОФИЛЯ

The purpose of the study is to substantiate the application of a new kinematic scheme for crushing plant materials (cereals and fruit plants) to implement the design of a roller crusher with composite plates in the form of an RT-profile. To achieve the objective of research, a number of tasks were set to study the main object – the kinematic scheme of crushing. The paper examines in detail the specified crushing scheme as a static and kinematic scheme of interaction between the elements of the crusher and the crushed raw material; the possibility of combining a number of different destruction mechanisms in this scheme is noted, namely: compression, tension, abrasion, impact action; the effect of constant change in the direction and magnitude of the forces acting on the crushed material is noted; geometric and power characteristics of the new design of the roller crusher are investigated. The analysis of the new kinematic scheme of grinding allows us to draw the following conclusion: alternating loads appear in the system, ac-ting on the raw material being ground as a result of various destructive forces, which allow us to achieve an additional increase in the intensity of material (raw material) grinding and, as a consequence, an increase in the efficiency of the grinding process as a whole. The substantiation of the kinematic and force effects affecting the raw material being ground in the crushing zone is also given, taking into account the elastic-plastic properties of various types of agricultural products. The result of the analysis of the stress-strain state of the rolls in the grinding zone is given, taking into account the most unfavorable conditions of the impact of substances with different mechanical properties on the working parts of the crusher. The necessity of implementing a new grinding scheme is substantiated and design options are proposed in the form of a crusher with set plates in the form of an RT-profile.

Design of a robotic platform for hybrid wind tunnel experiments of floating wind farms

Wind tunnel experiments incorporating factors like realistic ambient wind conditions, merging of multiple wakes, and active wake controls are needed to understand and improve modeling of floating wind farms. A key technology for this kind of experiments is the robotic system emulating the wind turbine motion. This article addresses the design of a robotic platform with three degrees-of-freedom (surge, pitch, and yaw) specifically tailored for wind tunnel experiments on floating wind farms. This robotic system aims to accurately reproduce the motion spectrum of floating wind turbines of 10-22MW and to simulate rotor-atmospheric wind interactions. The robotic platform has a compact design to be positioned in multiple units inside the wind tunnel and avoid disturbing the wake of the wind turbine on top of it. To achieve these goals, the wind turbine is partially integrated in the robotic platform that employs a parallel kinematic scheme and has all actuators close to the wind tunnel floor.

Optimization of the technology of hoisting operations when drilling oil and gas wells

In the process of drilling deep wells, hoisting operations are, although unproductive, a necessary expenditure of working time and occupy 25-60% of the total time of well construction. In the case of major repair of wells, this share can be even higher. It is clear that the technical and economic indicators of drilling and capital repair of wells largely depend on the speed of execution of hoisting operations. Existing technologies and time standards for their implementation are outdated and do not take into account the current state of technology development. The article deals with the issue of optimization of the rationing of time for the execution of hoisting operations during drilling and capital repair of oil and gas wells. This problem is solved using the example of the TW-125 CA A6 well overhaul installation, which are used during overhaul of wells by branches of JSC “Ukrgazvydobuvannya”. With the help of the kinematic scheme of the installation, the rotation speeds of the winch shaft at each gear of the gearbox were determined, which made it possible to determine the optimal time for performing hoisting operations, and, as a result, to reduce the time spent on drilling, depending on the type of rock, in general.

Mathematical model of a generalized quadcopter kinematic scheme and its software implementation

Mathematical model of a generalized quadcopter kinematic scheme and its software implementation

ОСОБЛИВОСТІ ПРОЄКТУВАННЯ МЕХАНІЗАЦІЇ КРИЛА ЛІТАКІВ ТРАНСПОРТНОЇ КАТЕГОРІЇ

The paper analyses the methods of designing wing mechanisation for transport category aircraft. The wing layout with the placement of wing mechanisation means on the leading and trailing edges of the wing is analysed. Specific requirements for wing mechanisation units are considered. The analysis takes into account the requirements of aircraft operation, which provide easy access to inspect the mechanisation units and their attachment mechanisms. The need for constant monitoring of the synchronous operation of all mechanisation sections and ensuring their smooth movement is emphasised. The design of any type of mechanisation means involves the simultaneous solution of a number of development tasks: kinematic scheme, installation and control system, support structure and the device itself. In most cases, the drive mechanisms are also developed. The design of a new aircraft is a multi-stage iterative process that includes external design, development of a technical proposal, preliminary design, detailed design, production of prototypes, ground and flight tests, which determine the actual characteristics of the aircraft and the degree of its compliance with the technical specifications. Consider the advantages created by wing mechanisation equipment. The mechanisation of the AN-140 is considered as a representative of aircraft whose wings have trailing edge mechanisation but no leading edge mechanisation. The mechanisation of the AN-74 is also considered as a representative of aircraft that use two- or three-slotted retractable flaps, winglets or nose shields of large curvature over the entire wing span. The design technologies in integrated computer information systems are characterised, which allow to build a single process of computer modelling and engineering analysis and to conduct multivariate studies to select optimal design solutions in a sufficiently short time. A block diagram of the process of detailed design of flaps is proposed.

On the Formation and Accuracy of the Implementation of the Program Modes of Movement of Mobile Robots with Walking Propulsion Devices

Various kinematic schemes of walking propulsion devices of mobile robots are considered. Among them there are cyclical mechanisms with a different number of links, zoomorphic, insectomorphic, orthogonal and others. Propulsion devices may differ from each other in the number of drives. Examples of walking machines and laboratory samples with such propulsion devices are given. The importance and significance of the tasks of ensuring the accuracy of positioning the foot of the propulsion device as the working body of the walking mechanism, due to the need to place it on the supporting surface at a given point when moving the propulsion device, are substantiated. It is also necessary to overcome obstacles identified by the information-measuring system and having certain dimensions and located in certain places on the support surface. Such a movement should be accompanied by a minimum of the height of the foot lift, which ensures a minimum of energy consumption. Additionally, the necessity of ensuring the required speed of the foot of the propulsion devices walking mechanism in the phase of its interaction with the support surface is justified, which is explained by maintaining the same speeds of the support feet in the relative heading movement in the phase of the implementation of the traction force. Even with a slight difference in the speeds of the support stops, the traction force is developed only by the propulsion device, whose foot moves at maximum speed. The remaining propulsion devices operate in braking mode. Compensation is possible only due to the rigidity of the static characteristics of the engine and the viscous-elastic-plastic properties of the soil. In this case, an increased load is imposed on the drive motors and therefore energy efficiency is reduced. The problem of assessing the accuracy of positioning is solved by known methods by introducing the transfer functions of the stepping mechanism. The transfer functions link the movement of the output element of the motor of the corresponding drive and the working body of the walking mechanism — the foot. To solve the problem of estimating the accuracy of the walking mechanism by the speed of the foot, new transfer functions are introduced, which are components of the new matrix. Their characteristic feature is the dependence on the speeds of the output elements of the executive motors. The equation of motion providing optimality in positioning accuracy and speed is obtained.

Синтез механизма привода ремиз

Introduction. Domestic enterprises in various industries use a variety of process equipment, including weaving machines. Modern weaving machines have several unique features, including a close relationship between technical condition, productivity, and product quality. Weaving machines are widely used in the textile industry in Russia and other countries. To produce cotton, silk, wool, linen, and other types of fabrics, appropriate machines are designed, including shuttle, shuttleless, pneumatic, and hydraulic machines. One of the most crucial parts of the machine is the heddle lifting mechanism, which determines the weave pattern and the quality of the fabric produced. The purpose of the work is to reduce the dimensions of the loom by changing the design parameters of the heddle lifting mechanism. The research methods are based on the theory of machines and mechanisms. They enable the development of a method for synthesizing the heddle lifting mechanism and designing a device with reduced dimensions. The paper presents the synthesis and analysis of the Assur group algorithm, which can determine the kinematic characteristics of the mechanism. Results and discussion. Following the proposed methodology, the mechanism design was modified by removing the fixing device from the lever mechanism operating area. This allowed for a reduction in interaxial distances and a change in the kinematic scheme. As a result of the new position of the fixed axes, some levers, the connecting rod, and the angle of the double-arm lever were also altered. The synthesis of the mechanism is proposed to begin with the last Assur group, setting it a specific value for the G-point motion equal to 75 mm. (motion of the fourth heddle shaft). As a limitation, the equality of arcs (chords) E´E = F´F ` was accepted. By assigning these values to the input element for the second-class first-type Assur group and bearing in mind the accepted conditions, the motions for point D were obtained. Thus, the value of the swing angle  of the roller shaft equal to 22.46° was obtained, which is 27.44 mm along the chord. Applying the interpolation principle, we found the initial motion value of 28 mm. Since the loom is planned to produce interlacing fabric patterns using 10 heddles, the design provides for a variable parameter that allows changing the motion of the heddles depending on their location in the depth of the machine. This role was assigned to the lever B03D. A cam pair synthesis was performed after determining the maximum and minimum values of the center of the roller motion. In total, 5 types of laws of motion were considered: straight-line, harmonic, double harmonic, power-law, cycloidal ones. For the center of the roller, the cycloidal law of motion was selected since it better corresponds to the specified conditions. The synthesis's accuracy was confirmed by the constructed cam profile and conducted kinematic studies for the Assur groups.

Contributions to the synthesis of the windshield wiper mechanism with one rocker-slider blade

The paper deals with synthesis of the windshield wiper mechanism with one rocker-slider blade. Starting from the kinematic scheme of the constructive model designed by Mercedes-Benz motor vehicle company, a structure analysis on this complex mechanism consisting of three kinematic chains, of which two are articulated bar mechanisms and one is planetary mechanism, has been accomplished. The novelty of this paper consists in the presentation of an optimum synthesis method of the planar bar mechanism in two variants for the wiper blade driving. The first variant is a planar 4-bar mechanism type crank-rocker where the cosines theorem has been applied in order to obtain the lengths of the coupler and the crank. The second analyzed variant is a bi-contour linkage consisting of two 4-bar mechanisms linked in series. Further, the calculation of the planetary gear angular velocity on the complex mechanism with dyadic kinematic chains has been achieved. In order to do this, the immobilization of the planetary carrier method has been applied. Finally, the geometry of the driven linkage of the wiper mechanism type crank-slider which has two mobilities has been studied. A vector equation has been written in order to obtain the length of the variable blade.

Transport platform stabilization mechanism using controlled suspension

In this paper the authors present the development of a novel transport mechanism designed to perform gravity survey work on difficult terrain. Thus, in the first part of the paper the authors present review and analysis of existing patents and commercial developments of transport platforms capable of stabilizing loads while travelling in urban environments with potholes and steps. In the second part we present technical solution of a steerable suspension with a torsion bar as an elastic element based on the elimination of the drawbacks of the existing developments. The core feature of this development is the potential ability to adapt the suspension to different types of surfaces by changing the elastic characteristics of the torsion bar. We also propose an alternative to the generally accepted kinematic scheme by using a conical gearbox, which allows to achieve a tight arrangement of suspension mechanisms within the dimensions of the transport platform. In addition, authors propose the stabilization mechanism, that allows to change the clearance of the transport platform and provides stabilization of the gravity exploration research equipment, characterized by sensitivity to deviations from the vertical.

DETERMINING THE ACCELERATIONS OF POINTS OF A PLANAR EIGHT-LINK THIRD-CLASS MECHANISM USING GRAPH-ANALYTICAL METHOD

A characteristic feature of technological machines used in the fashion industry is the complexity of motion of the working links, both in terms of geometry and motion laws. Such technological motions are provided by complex mechanisms, the basis of which consists of structural groups of third-class and higher-class links. In multi-link structural groups of higher classes, complex motions of certain points along trajectories resembling planar linkage curves of various geometric shapes are observed. If the centers of external kinematic pairs of another structural group, which is attached to the previous group of links, are placed at such points, theoretically, any trajectory of the working point of the machine with the necessary motion laws required for performing a technological operation can be obtained. In practical application, the use of higher-class structural groups within the kinematic scheme of a planar mechanism leads to complexities in its further investigation. This is explained by the necessity of conducting studies using specially developed methods for their implementation. In cases where these methods cannot be applied, there arises the need for individual development of a sequence for conducting such studies in each specific case of such complex mechanisms, taking into account their structural characteristics. A sequence of actions has been developed and a kinematic analysis of an eight-link third-class mechanism has been conducted using a graph-analytical method. Acceleration plan has been graphically constructed, and the magnitudes and directions of angular accelerations of the mechanism’s links have been calculated. The selection of a conditionally different possible initial mechanism allowed transforming the eight-link third-class mechanism with two sequentially attached structural groups of links into a mechanism with sequentially-parallel attachment of second-order second-class link groups and performing the analysis of the third-class mechanism in a manner characteristic of the analysis of second-class mechanisms. The proposed method of analyzing higher-class mechanisms may be useful for conducting similar studies.Keywords: research of mechanism, analysis of mechanism, kinematic investigation, kinematic analysis, angular acceleration, linear acceleration vector, acceleration plan

Optimum parameters determination of the gripping and cutting device vibration suspension

The article presents the optimum parameters determination results of the gripping and cutting device vibration suspension in the process of holding the tree in a vertical position. Two kinematic schemes of the vibration suspension were considered, and their equilibrium equations for static calculation were compiled. To determine the optimum parameters of the vibration suspension the geometric parameters of its structural elements were selected at which the torque on the drive shaft was minimum. The changes in the lengths of the rotation arm and suspension arm, the arm fixing distance to the boom were justified as variable parameters. As a result of varying the set parameters graphs of the drive shaft moment change depending on the tree weight were obtained. As a result of the study, it was determined that with an increase in the arm fixing distance to the boom, the torque on the drive increases, and with an increase in the parameters of the rotation arm and the suspension arm, on the contrary, decreases. Therefore it is recommended to increase the arm fixing distance to 201 mm, and the rotation and suspension arms, on the contrary, reduce to 200 and 86 mm, respectively. The results obtained made it possible to determine more optimum parameters of the gripping and cutting device vibration suspension, which can be used in further theoretical and practical research of the gripping and cutting device design with vertically held tree.

Mathematical modeling kinematics of double toggle jaw crusher

In this work, the problem of modeling the kinematic parameters of a jaw crusher with a simple movement of the jaw was consider. The dynamic model of the jaw crusher was consider as a flat articulated-lever closed mechanism. The crushing mechanism of the jaw crusher with a simple movement of the cheek modeled as a mechanism with five moving links and six rotary joints of the fifth mobility class, with the eccentric shaft modeled as a crank and the rotary jaw modeled as a rocker arm. The kinematic chain of the crank and the movable cheek was consider separately. Using vector equations, the interdependencies between the moving elements of the adopted kinematic scheme of the jaw crusher model were determined. Since this scheme has one degree of mobility, the functions of the position of all moving links of the given kinematic scheme were find, depending on the angle of rotation of the drive crank. Rotation angles was define in the Cartesian coordinate system relative to the horizontal plane.
 In this work, using the obtained kinematic equations, the proposed simulation model of the jaw crusher was investigate and compared with a real SMD-117 machine using its typical dimensions.
 The functions of the changes in the angles of rotation of the links of the kinematic scheme of the jaw crusher and their angular velocities obtained in the course of the research are important in the future for studies of the dynamics of such machine structures. Comparative data showed how the mechanism of changing kinematic parameters was implement in the design of the real SMD-117 machine.