Volume 15, Issue 2 (2017)






GEOMETRY
of MECHANISMS


Investigation of kinematic features of hypocycle mechanism
^{1}Vitebsk State Technological University, department of Physics and Technical Mechanics, Vitebsk, Moscow Av., 72, 210035, Belarus
^{2}LLC «Mainsoft» 16 Kommunisticheskaya Street, Vitebsk, 210026, Belarus

A R T I C L E I N F O 

A B S T R A C T 



DOI 10.5862/TMM.34.1
Article history:
Received 12.03.2017
Received in revised form 30.06.2017
Accepted 06.07.2017
Keywords:
a hypocyclic mechanism, a mechanism with quasistop feature, a satellite mechanism, a planet gear, a hypocycloid, a satellite.


The article presents a solution for hypocycloid trajectory of the satellite mechanism's output link where the satellite is internally engaged with central fixed wheel. Geometric features of the trajectory of the mechanism allow using it in machines maintaining technological procedures for which the stage of stopping the output unit allows small fluctuations of its positioning. Therefore, socalled quasistop of the executive device takes place. The mechanisms of this kind are widely used in machines for textile and light industry, where the treated material makes possible for the executive device to do small oscillations during the technological cycle, due to its physical and mechanical properties.
The research of geometric properties (loop length and its quality) of the trajectory of the output link allows guaranteeing the required behavior of the output unit while running the technological cycle. Previous publications devoted to described mechanism showed certain steps towards to the decision. A calculation presented here brings larger accuracy in comparison with previous calculations and is congruent with requirements to geometry of mechanisms required for needs of machine industry with high degree of reliability. In its turn, comparative analysis of characteristics of the trajectory of proposed mechanism and those of the epicyclical mechanism built upon the same geometric dependencies allows to conclude that epicyclical mechanisms are more preferable when using them in mechanisms of light industry machines
(in Russian).
R E F E R E N C E S
 Teorija mehanizmov i mehanika mashin [Theory of mechanisms and mechanics of machines] Textbook for students of universities [G.A. Timofeev and etc.]; Ed. G.A. Timofeev. Moscow, MSTU Publ, 2017. 566 p. (in Russian).
 Sunkuev B.S. Raschet i konstruirovanie mashin i apparatov [Calculation and design of machines and apparatus]. Textbook for students of universities. Vitebsk, VSTU Publ, 2014. 168 p. (in Russian).
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 Ustrojstvo otklonenija igly shvejnoj zigzagmashiny [Device for deflection of a sewing zigzag machine needle]. Patent for invention BY 13656 C1, IPC D05B 3/02 / [A.G. Semin, A.M. Timofeev, A.V. Loktionov, E.V. Parominsky]. No. a 20080915; Vitebsk State Technological University; claim. 11/07/2008, publ. 30.10.2010, Bul. ¹ 5. 2 p. (in Russian).
 Ustrojstvo otklonenija igly shvejnoj zigzagmashiny i mehanizm preobrazovanija vrashhatel'nogo dvizhenija privodnogo vala v preryvistovrashhatel'noe s kvaziostanovkami vyhodnogo zvena [Device for deflection of the needle of the sewing zigzag machine and the mechanism for converting rotational motion of the drive shaft into intermittent rotational with quasistop of the output link]. Patent for invention BY 5717 C1, IPC D05B 3/02, F16H 21/02/ [C. P. Blinov , A.G. Semin, A.V. Loktionov]. No. a 19990028; Vitebsk State Technological University; claim. 05.01.1999, publ. 30.12.2003. 4 p. (in Russian).
 Przytulski R., Zajaczkowski J. Kinematic Analysis of the Sewing Mechanisms of an Overedge Machine, Fibres & Textiles In Eastern Europe, 2006, Vol. 14, No. 1 (55), pp. 7982.
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 Nayak R., Padhye R. (Eds.) Garment Manufacturing Technology. Woodhead Publishing, Cambridge, 2015. 481 p.
 Mazari A. A study on DLCcoated industrial lockstitch sewing needle / A. Mazari, A. Havelka, J. Wiener, Z. Rozek // Industria Textila, 2015, Vol. 661, pp. 4347.
 Rengasamy R. S. Study on dynamic needle thread tensions in a single needle lockstitch (SNLS) sewing machine. II. Effect of sewing speed, thickness of fabric plies, thread linear density and pretensions of threads / R. S. Rengasamy, D. Samuel Wesley // Fiber and Polymers. 2014. Volume 15, Issue 8. pp. 17731778.
 Kinickij Ja.T. Sharnirnye mehanizmy Chebysheva s vystoem vyhodnogo zvena [Chebyshev’s lever mechanisms with output link]. Kiev, Vyshha shkola Publ, 1990. 231 p. (in Russian).
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 Harzhevs'kij V.O. Sintez vazhil'nyh mehanizmiv iz zupinkoju vih³dno¿ lanki metodami kinematichno¿ geometri¿: monografija [Synthesis of lever mechanisms with stopping of the output link by methods of kinematic geometry: monograph]. Khmelnitsky, Khmelnitsky National University, 2015. 223 p. (in Ukrainian).
 Pozhbelko V.I. Zubchatorychazhnyj mehanizm s periodicheskimi ostanovkami V. I. Pozhbelko [Toothedlink mechanism with periodic stops named V.I. Pozhbelko]. Patent for invention RU 2 252 350 C1, MPK F16 H 21/14. No. 2003132494/11; claim. 05.11.2003, publ. 20.05.2005, Bul. ¹14. 8 p. (in Russian).
 Pozhbelko V.I. Sposob i mehanizm V. I. Pozhbelko dlja vosproizvedenija vrashhenija s ostanovkami [Pozhbalko's method and mechanism for reproduction of rotation with stops]. Patent for invention RU 2 249 133 C1, ÌÏÊ F16 H 21/14. No. 2003123637/11; claim. 25.07.2003, publ. 27.03.2005, Bul. ¹9. 12 p. (in Russian).
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 Sjomin A.G., Kim F.A., Svirskij D.N. Kinematicheskoe issledovanie kompaktnogo zubchatorychazhnogo mehanizma s preryvistym dvizheniem vyhodnogo zvena [Kinematic study of a compact toothedlever mechanism with intermittent movement of the output link]. Bulletin of Polotsk State University. Series C: Fundamental Science, 2005. ¹4, pp. 150152. (in Russian)
 Sjomin A.G., Kim F.A., Svirskij D.N. Issledovanie rychazhnogo mehanizma s kvaziostanovkami [Investigation of the lever mechanism with quasistops]. Bulletin of Polotsk State University. Series C: Fundamental Science, 2006. ¹4, pp. 106108. (in Russian).
 Sjomin A.G., Aleshhenko B.F. Issledovanie dlitel'nosti i kachestva kvaziostanovki vyhodnogo zvena zubchatorychazhnogo mehanizma [Investigation of the duration and quality of quasistop of the output link of the toothedlever mechanism]. Bulletin Vitebsk State Technological University, 2006. ¹10, pp. 4144. (in Russian).
 Sjomin A.G., Timofeev A.M., Loktionov A.V. Issledovanie mehanizma preryvistogo vrashhatel'nogo dvizhenija s vneshnim zacepleniem zubchatyh koles [Investigation of the mechanism of intermittent rotational motion with external gearing of gears]. Bulletin of BelarusianRussian University, 2008. ¹4, pp. 126131. (in Russian).
 Sjomin A.G., Timofeev A.M., Loktionov A.V. Issledovanie zubchatorychazhnogo mehanizma preryvistogo vrashhatel'nogo dvizhenija s vneshnim zacepleniem koles [Investigation of the toothedlever mechanism of intermittent rotary motion with external gearing of wheels]. – Bulletin of Vitebsk State Technological University, 2008. ¹15, pp. 5256. (in Russian).
 Fedoseev G.N., Sjomin A.G., Korneenko D.V. Issledovanie kinematicheskih vozmozhnostej zubchatorychazhnogo mehanizma s kvaziostanovkami [Investigation of the kinematic features of the toothedlever mechanism with quasistops]. Bulletin of Vitebsk State Technological University, 2015. ¹ 28. pp. 111115. (in Russian).







MECHANICS
 
Durability hollow profiles blades of centrifugal turbomachines
^{1}Sevastopol state university: 7 Kurchatova Street, Sevastopol, 299015 Russia
^{2}Company "Aerotex": street Muranovsky, 17147, Moscow, 127349 Russia

A R T I C L E I N F O 

A B S T R A C T 



DOI 10.5862/TMM.34.2
Article history:
Received 05.05.2017
Received in revised form 03.07.2017
Accepted 06.07.2017
Keywords:
centrifugal turbomachines, profiles blades, the theory of shells, the regional problem, the modified method consecutive approaches.


The mathematical model of calculation of the strength hollow profiles blades of centrifugal turbomachines on the basis of the theory of shells is developed. For the decision of a regional problem the method of integrated parities Dorodnicyns and the modified method consecutive approaches, V.A.Pukhliy developed by the professor is used. (in Russian).
R E F E R E N C E S
 Pukhliy V.A. Stady of stressstrain state of impeller expanders / V.A.Pukhliy, S.T.Miroshnichenko, A.A.Zhuravlev // Scientific magazine “Power plants and technologies” – vol.2, ¹2, – p.2231.
 Pukhliy V.A. A method of the analytical decision of twodimensional regional problems for systems of the elliptic equations /V.A.Pukhliy // Journal calculate mathem. and mathem. physics, 1978.  Volume 18.  ¹5.  p.12751282.
 Pukhliy V.A. About one approach to the solution of boundary value problems of mathematical physics. / V.A.Pukhliy // The Differential equations, 1979.  Volume 15.  ¹11, – p.20392043.
 Dorodnicyn À.À. About one method of solving equations of the laminar boundary layer /A.A.Dorodnitcyn// Journal applied mathem. and mathem. physics, 1960.  ¹3.  p.111118.
 Luke Y.L. Mathematical functions and their approximation – New YorkLondon: Academic Proc. Jnc., 1975. – 608 p.
 Pukhliy V.A. An analytical method of the decision of boundary value problems of the theory shells. / V.A.Pukhliy // Works XIII AllRussia Conference on the theory of plates and shells, 1983.
 Pukhliy V.A. Bonding solution of the problems of nonrectangular in terms of cylindrical sandwich panels are modified by the method consective approaches /V.A.Pukhliy// Applied mechanics, 1986. volume 22.  ¹10. – p.6267.
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 Pukhliy V.A. Solution of initialboundary value problems of mathematical physics the modified method of consecutive approaches / V.A.Pukhliy // Review of applied and industrial mathematics, 2015.  volume 22. – release 4.  p.493495.







MECHANICS 

Durability of blades radial expansion turbines taking into account deformation of edge blade
^{1}Sevastopol state university: 7 Kurchatova Street, Sevastopol, 299015 Russia
^{2}Company "Aerotex": street Muranovsky, 17147, Moscow, 127349 Russia

A R T I C L E I N F O 

A B S T R A C T 



DOI 10.5862/TMM.34.3
Article
history:
Received 14.06.2017
Received in revised form 04.07.2017
Accepted 06.07.2017
Keywords:
cryogenic technics, expansion turbines, working blades, the durability, modified method consecutive approaches.


The calculation method on durability of working blades of the expansion turbines radial type taking into account deformation of edge of the blade adjoining to the covering disk is stated. The approach based on a combination of a method of straight lines and the modified method consecutive approaches is stated semianalytic. The calculation example is resulted (in Russian).
R E F E R E N C E S
 Pukhliy V.A., Miroshnichenko S.T., Zhuravlyov A.A. The calculation of thr working blades of the expansion turbines of jet type.  The theory of mechanisms and cars (ÒÌÌ), volume 14, 4 (32), 2016, p.194201.
 Pukhliy V.A, Miroshnichenko S.T., Zhuravlev A.A., Sofijskij I.J., Pukhliy P.V. Gidrodinamiks and thermoelasticity expansion turbines of jet type.  A material of 6th MMESE2017 «Modern mechanical engineering: Science and education».  SPb.: Publishing house Politehn. University, 2017, p.152175.
 Pukhliy V.A, Miroshnichenko S.T., Sofijskij I.J., Pukhliy Ê.V. To calculation of blades axial expansion turbines of air turborefrigerators machines.  The theory of mechanisms and cars (ÒÌÌ), volume 15, 1 (33), 2017, p.2539.
 Ris V.F. The calculation of turbomachines.  M.: Publishing house Mashgiz, 1959,  55 p.
 Grigorenko J.M., Mitlin B.I., Raår G.A. Researches of intensity of covering disks of working wheels of centrifugal compressors taking into account discrete placing of blades.  Applied mechaniks, Volume 14, ¹1, 1978, p.116119.
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 Pukhliy V.A. About one solution to the decision of regional problems mathematical physics.  Differential equations 1979, volume 15, ¹11, p.20392043.
 Pukhliy V.A. The decision of intialregional problems of mathematical physics modified method consecutive approaches.  Review of applied and industrial mathematics, 2017, volume 24, rel.4, p.3748.
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REALIZED PROJECTS 

Links unification for mechanisms structural synthesis
400005,Russia, Volgograd, Lenin avenue, 28

A R T I C L E I N F O 

A B S T R A C T 



DOI 10.5862/TMM.34.4
Article history:
Received 10.04.2017
Accepted 06.07.2017
Keywords:
walking mover, cyclic walking mechanism, mechanism synthesis, mobile robots, vehicles for sea bottom, movement control, passableness, underwanter tests.


In the paper discussed the results on adaptive and shape passableness of walking machines with movers at the base of cyclic mechanisms. Usage of cyclic movers allows not to care about gait safety and stability and excludes the necessity of controlled adaptation system. In result, walking machines with cyclic movers has a minimal number of controlled locomotors and become simpler and cheaper than adaptive type of movers. By the other hand, straight trajectory of support points of cyclic walking mechanisms restricts their abilities on adaptation to support surface and shape passableness. In the paper, in example of cyclic walking mechanism of UmnovChebyshev, shown the possibility of support point adjustment at the cost of introduction in the mechanism of additional degree of freedom, controlled in gear shifting mode. Walking mechanism in this case remain with one degree of freedom. Walking mechanism with adjustable support point trajectory was realized in underwater walking device MAK1. Presented results of underwater tests of the device. During underwater experiments were investigated its dynamics, traction properties and passableness. Also, methods of control of walking robot movement in nondeterministic environment were practicing. The experiments shown that walking machines better than traditional vehicles on ground and shape passableness. Also. Test shown that walking device MAK1 with cyclic movers exceed known analogues with adaptive type of movers on velocity and maneuverability. Offered walking mechanism could be implemented both in simplest walking machines, for example, agriculture assignment and in sophisticated robotic systems, assigned for works in extreme conditions, because of its simplicity and reliability (in Russian).
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 The Investigation of Walking Machines with Movers on the Basis of Cycle Mechanisms of Walking / Briskin E.S., Chernyshev V.V., Maloletov A.V., Zhoga V.V. // The 2009 IEEE Int. Conf. on Mechatronics and Automation: conf. proceedings, China, 2009, pp. 36313636.
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