The purpose of this paper is a theoretical study of the positioning accuracy of the end part of the developed flexible manipulator. The research was carried out on the basis of its computer and physical models. In the process of computer modelling with the use of Matlab Robotics Toolbox software environment and on the basis of the developed physical model, the principles of determining the position of the end part of a flexible manipulator at known tilt angles of links were set up, taking into account that the geometric dimensions of the models were identical. The results of modelling are presented in the graphs of the coordinate comparison. Based on the results of experiments, we can conclude that, in order to achieve high accuracy of positioning of the end part of a flexible manipulator, it is recommended to avoid the use of cardan joints between the links, or to choose cardan mechanisms with reduced free travel.
Salix contains salicylates in their leaves, bark, and buds. That is why there is a necessity in elaborating microcloning propagation technologies of same genotypes which are high productive in salicin in order to create industrial plantations. The study examined the effect of 25 different combinations of BAP and NAA concentrations on the growth and development of S. acutifolia. The best results were observed on MS supplemented with 1.0 mg/l BAP and 0.01 or 0.1 mg/l NAA, and rhizogenesis on MS medium supplemented with 0.1 and 0.2 mg/l NAA. In order to study the effect of the mineral composition of basic media on the morphogenesis of S. acutifolia in an in vitro culture, DKW, GD, MS, and WPM were tested. Kn, BAP, and 2iP were compared to study the effect of cytokinins on the morphogenetic ability of S. acutifolia explants. The influence of the mineral composition of the medium on the rhizogenesis of S. acutifolia explants in vitro was evaluated on four studied media DKW, GD, WPM, and MS. Each medium contained 3% sucrose, 0.6% agar-agar, and 0.2 mg/l NAA. As a control, MS medium supplemented with 0.2 mg/l NAA was selected.
The purpose of this article is the theoretical justification of parameters of the felling head elements and experimental studies of its the work technique on the basis of the tractor of the drawbar category 0.6-1.4. The essence of theoretical study is to determine parameters of the mounted felling head for cutting and vertical holding of a tree of a diameter of 10 to 22 cm, taking into account the optimal working zone of the tilt mechanism. Experimental study was carried out on a prototype of a one-grip felling machine (OGFM) (based on the T-25 tractor) with the mounted felling head.In the process of carrying out field studies, technological performance parameters of the OGFM for low-capacity logging and the pressure in the hydraulic system of the felling head were studied under various operating conditions.
Up-to-date production of fuel pellets has problems associated primarily with insuffi cient amount of raw material of high quality and its high cost. To increase the productivity of the pelletizing process, it is necessary to use defective trees including those affected by rot. In order to solve the problem of lack of strength of pellets, technical lignin is used as an additive. Various ways to determine the damage rate of wood by rot were investigated in order to know the amount of lignin needed to add to produce a product of high quality. The NMR relaxation method is characterized by simplicity of sample preparation, rapid acquisition of test results, accuracy, undemanding to personnel qualifi cations, relatively small equipment cost, and safety. In the course of the experiment, we obtained a curve of decrease of the free nuclear induction of the H-NMR sample containing a solid and a mobile phase. Graphs of the relative proportion of solid components and liquid phase shows the dependence of the content of cellulose and lignin in the sample and its moisture rate on the percentage of rotten wood.
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