Mathematical modeling of the manipulator spatial motion taking into account hydrodynamic processes in the directional control valve of a mechatronic drive

Authors

  • Yu. A. Buriennikov Vinnytsia National Technical University
  • L. H. Kozlov Vinnytsia National Technical University
  • O. V. Petrov Vinnytsia National Technical University

Keywords:

маніпулятор, мехатронний привод, математична модель, гідродинамічний процес, гідродинамічна сила

Abstract

Mathematical model of spatial motion of the manipulator with a mechatronic drive is considered. In order to refine the mathematical model, it is proposed to introduce a dependence that describes changes in the value of hydrodynamic force obtained by approximation of the results on computer modeling of hydrodynamic processes in the directional control valve of the mechatronic drive.

Author Biographies

Yu. A. Buriennikov, Vinnytsia National Technical University

Cand. Sc. (Eng), Professor, Director of the Institute of Mechanical Engineering and Transport

L. H. Kozlov, Vinnytsia National Technical University

Cand. Sc. (Eng), Assistant Professor, Professor of the Chair of Technology and Automation Engineering

O. V. Petrov, Vinnytsia National Technical University

Cand. Sc. (Eng), Assistant Professor, Assistant Professor of the Chair of Technology and Automation Engineering

References

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Proceedings of the First International Scientific Forum. — Cracow, 2000 (Fluid Power Net publication). — P. 1—23.
2. Harms, Hans-Heinrich. Mechatronic Systems in Mobile Hydraulic Machines / Hans-Heinrich Harms. Technical University
of Braunschweig, Germany [Electronic resource]. — Mode of access: URL: http: //www.tu-bs.de/institute/ilf.
3. Козлов Л. Мехатронна гідросистема мобільної машини / Леонід Козлов // Вісник Східноукраїнського національно-
го університету імені Володимира Даля. — 2012. — № 6, C. 22—30.
4. Kozlov L. Digital PD controller for dynamic correction of the differential component coefficient for a mechatronic hydraulic
system / L. Kozlov // Tehnomus journal: Proceedings of the XVIIth International Conference “New Technologies and Products
in Machine Manufacturing Technologies”. — Suceava, Romania, May 17 — 18, 2013. — P. 120—125.
5. Павленко І. І. Промислові роботи: Основи розрахунку та проектування. — Кіровоград : КНТУ, 2007. — 420 с.
6. Струтинський С. В. Просторові Системи приводів: Монографія / Струтинський С. В., Гуржій А. А. — К. : Педаго-
гічна думка, 2013. — 492 с.

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How to Cite

[1]
Y. A. Buriennikov, L. H. Kozlov, and O. V. Petrov, “Mathematical modeling of the manipulator spatial motion taking into account hydrodynamic processes in the directional control valve of a mechatronic drive”, Вісник ВПІ, no. 5, pp. 134–141, Oct. 2014.

Issue

No 5 (2014)

Section

Mechanical engineering and transport

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