This paper presents the development of an air robotic system for monitoring the quality of ores in natural occurrence based on a specialized EDXRF device installed on a UAV equipped with technical vision. The sampling trajectory is selected using a depth camera. Electronic units were made and the designs of the main blocks of the structural diagram of the device were developed. The results are presented on the development and combination of the excitation and detection unit, as one of the main elements of the domestically produced specialized device (SD), which provides a significant expansion of the range of determined elements, an increase in the detection limit and the reliability of ore sampling in natural occurrence. On the basis of the developed main blocks and electronic components, a block diagram and a model of an energy-dispersive X-ray fluorescent device were developed on a modular basis, providing the necessary flexibility in adapting the device to various analytical tasks and unmanned aerial vehicles. Taking into account the developed technical and structural characteristics of the joint venture, a UAV was selected -a PX4 Vision quadrocopter equipped with technical vision with optimal characteristics.Based on the new developments of the structural scheme of the SD and its combination with the PX4 Vision quadrocopter, a model of an air robotic system for monitoring the quality of ores in natural occurrence was created, which will be used at mining enterprises in Kazakhstan.
This work studies the effectivenessof applyingadaptive regulatorindirect current drive control system ofmanipulator robot link. An adaptive stabilization ofcontrol system dynamics by directly modifying the transfer factor of electric drive regulator was carried out. In turn, this causes simplification of the system with adaptive regulator and its technical implementation. This system was modeled inMATLAB (Simulink). A comparative evaluation of the results of modeling of electric drives with adaptive regulator with traditionally used methodology coordinate regulation was carried out. It is shown that the usage of adaptive regulator in electric drives systemdelivers desired dynamic characteristics of the manipulator.
Expanding technical and technological capabilities of forging and stamping machines and equipment can be carried out by introducing new designs of actuators with wide functionality. These features are provided by the crank lever mechanisms of the press. This article presents a kinematic analysis and synthesis of a six-lever mechanism for stamping a crank press with a forging feed mechanism. We propose an analytical method for kinematic analysis of the mechanism, which allowed us to implement a numerical calculation program in the integrated Maple environment. Methods of kinematic synthesis of the six-lever crank press mechanism based on the standardsquare approximation, as well as the synthesis of the four-lever crank-slide forging feed mechanism have been developed. All the required constant geometric parameters of the stamping mechanism are determined; as a result, the mechanism implements the specified law of motion of the working slider with high accuracy. The comparative analysis was carried out in the ASIAN-2014 environment.
The expansion of the technical and technological capabilities of forging and stamping machines and equipment can be carried out through the introduction of new designs of actuators with wide functionality. These developments require solving the problems of kinematic synthesis and analysis of mechanisms. In this work a comparative analysis of the endurance indicators of a crank press with the mechanism for transforming the motion of Stephenson II depending on the elastic compliance of the connecting rods and the deformation of the forging was shown. In this regard, the features of the kinematics of a crank press driven by an asynchronous motor taking into account the flexibility of the connecting rods and the workpiece was investigated.
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