Browsing by Author "Slavov V."

Now showing 1 - 4 of 4
  • No Thumbnail Available
    Item
    3D SPACE KINEMATICS OF A ROBOT FOR PROCESS AUTOMATION IN METALLURGY
    (2024-01-01) Slavov V.; Aleksandrova V.
    This paper presents the main results of a study on the kinematics in 3D space of a robot used for process automation in metallurgy. The robot is studied as a mechanical system with twelve degrees of freedom consisting of seven rigid bodies. The transition matrices between the local and reference coordinate systems are defined in symbolic form. The position vectors and linear velocities of characteristic points are also defined in symbolic form as well as angular velocities of bodies from the mechanical system. A calculation algorithm is compiled and entered into a standard mathematical software product. Results are obtained in symbolic form and are valid for all mechanical systems with an analogous dynamic model. The kinematics results represent a basis for studying the dynamics and vibrations of a robot for automating processes in metallurgy.
  • No Thumbnail Available
    Item
    Forced vibrations of the hopper of fertilizer applying machine
    (2018-01-01) Nukeshev S.; Slavov V.; Karaivanov D.; Balabekova A.; Zhaksylykova Z.
    The cultivation of crops is not only an important part of the economic sector of the state, but also the condition of food security of citizens. A key method of increasing yields is fertilizer in the soil. However, most machines cannot efficiently allocate and apply the fertilizer in the soil. In this regard, a dynamic model of the hopper of fertilizer applying machine is created. A methodology for determination of the natural frequencies of the mechanic system is proposed. Using matrix mechanics, equations for determining the kinetic and potential energy are derived. In the paper differential equations for description of forced small-amplitude vibrations of the system are composed and solved. Thanks to them the natural frequencies of the system are determined. The results are intended for research and optimization of a real machine, developed in KazATU – Astana, Republic of Kazakhstan.
  • No Thumbnail Available
    Item
    FREE UNDAMPED SPATIAL VIBRATIONS OF A ROBOT FOR PROCESS AUTOMATION IN METALLURGY
    (2024-01-01) Slavov V.; Aleksandrova V.
    This paper presents the results of mechano-mathematical modeling of free undamped spatial vibrations of a robot for process automation in metallurgy. A dynamic model of the robot is made. It is studied as a mechanical system with twelve degrees of freedom, contained by seven rigid bodies. Kinetic and potential energy are derived symbolically by using the kinematics study results. The matrices characterizing the mass-inertial and elastic properties of the mechanical system are obtained. The differential equations that describe the free undamped vibrations are derived. They take into account the geometrical, mass, inertial and elastic characteristics of the mechanical system. A compiled calculation algorithm is entered into a standard mathematical software product. Results are obtained in symbolic and graphical form. The natural frequencies and natural mode of a robot with concrete parameters are determined. Results of the study of free undamped vibrations represent a basis for studying of the free damped and forced vibrations of a robot for process automation in metallurgy.
  • No Thumbnail Available
    Item
    Mathematical modelling in 3D of opener with scatterer of the grain-fertilizer seeder
    (2018-01-01) Nukeshev S.; Slavov V.; Kakabayev N.; Amantayev M.
    This paper presents a mathematical modelling in 3D space of the scatterers of seeding opener of the grain-fertilizer seeder using the matrix method. The investigated model is presented as a mechanical system with eight degrees of freedom. Based on the results of simulation, the trajectories of the points on the oscillating scatterer in the form of a pendulum hemisphere and their projections on the XOZ and XOY coordinate planes as well as the linear velocity components of the considered points and the angular velocities components of the investigated scatterer are derived. The obtained data allow us to state that the use of the oscillating scatterer-pendulum hemisphere will improve the quality of sowing in terms of the flight range, spread and distribution of seeds, consequently, it will increase in the yield of crops. The results will also be used in further studies of mechanical system dynamics of the investigated seeding opener with scatterer of the grain-fertilizer seeders.