The dynamic balancing of the drive mechanism for the roller forming unit with balanced drive is consideredin order to increase reliability and durability. Two dynamic balancing problems are solved in the simulation process of the drive mechanism balancing: the inertia forces balancing which applied in the masses centers of the motion links, and the torque balancing which reduced to rotation axis of the drive shaft, that arise from the inertia forces action.Wherein all kinematic characteristics of the unit forming trolleys are determined, the change functions of the kinetic energy for the unit each element and whole system, the inertia forces of the unit each element and the total inertia force, the total moment from the inertia forces action are written.The unit motion equation is compiled based on the Lagrange equations of the second-order, and the generalized force and moment on the drive motor shaft are determined.The drive mechanism imbalance is estimated by the maximum and root-mean-square values of the total inertia forceand total torque from the inertia forces action, the dimensionless coefficients, which express the root-mean-square values ratio of the total inertia force and inertia forces, that act on each trolley, and the root-mean-square values ratio of the moment from the inertia forces action of the whole mechanism and moment components from the inertia forces action of the individual elements.It is established that the best balancing of the inertia forces applied in the masses centers of motion links, and the torque balancing which reduced to rotation axis of the drive shaft, that arise from the inertia forces action, are observed at the cranks displacement angle value Δφ=90° for the roller forming unit with balanced drive. The work results may in the future are used to refine and improve the existing engineering methods for estimating the drive mechanisms of roller forming machines, both at design stages and in practical use.

An equation of motion of the manipulator is obtained taking into account the influence of the inertial component of each link of the boom system and the effect of the oscillatory movement of the cargo on the dynamic loads of the metalware elements and hydraulic drive elements. The influence of the simultaneous movement of the first jib section, the second jib section and the telescopic jib section on cargo oscillation, as well as the effect of cargo oscillation on dynamic loads that occur in the boom system and manipulator hydraulic drive elements, is determined.

In order to increase reliability and accuracy of robot manipulators or other construction equipment used for lifting operations an optimum dynamic mode for moving its boom system has been calculated in the paper. Results of the research have made it possible to construct a mathematical model for manipulator movement and obtain kinematic characteristics of the optimum dynamic mode. While determining the optimum dynamic motion mode, a criterion action has been used as an optimization criterion which represents a time integral with an integrand function expressing a dynamic component of manipulator drive power. Functions for changing kinematic characteristics of an manipulator boom have been calculated when it moves from one predetermined position to another one and which correspond to optimum dynamic mode of motion. Search for an optimum motion mode has been performed by minimizing the optimization criterion using the Euler–Poisson equations. In this case a generalized angle of rotation has been used which permits to relate movement of the boom and oscillations of its support part. As a linking component differential equations of system motion have been also applied, in which relationships between an oscillation angle, rigidity of a manipulator support, and its mass-geometric characteristics have been recorded. Results of the work can be useful for refinement and improvement of existing engineering methods for calculating the drive mechanisms of manipulators both at design/construction stages and in real operation modes, and the results can also be used while making design or improvement of similar executive mechanisms for construction equipment and robots.

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Purpose. Improving mine winder operation efficiency during deceleration of the final cargo lowering due regimeparametric optimization and study the obtained results with dynamic and energy indicators. Methodology. In order to carry out the regime-parametric optimization of the mine winder deceleration mode the direct Euler's variational and differential evolution methods have been used. In order to study the approximate solution of the variational problem the mathematical modeling and integration of differential equations methods were used. findings. It was established that in comparison with rational laws of the mine winder deceleration using the optimum torque law reduces unwanted dynamic loads in the rope up to 28.4 %, and in the coupling by 15.4...82.7 %. In this case, the oscillations of the drive and the final cargo at the end of deceleration do not exist. In aggregate, it allows increasing the reliability of the mine winder. The optimal value of the reduced coefficient of coupling stiffness of the mine winder actuator has been established. Originality. The formulation of an optimization problem has been carried out. The complex terminal-integral criterion has been chosen. It was shown that in the formulation of the problem it is necessary to introduce the extra boundary conditions for achieving the absolute minimums of the terminal criteria. In order to find an approximate solution to the mine winder deceleration mode optimization problem, sampling of the problem was carried out. The solution of the problem was found on a set, which is the conjunction of two domains: the dynamic parameters of the mine winder and its modes of motion. Practical value. The calculated optimal deceleration mode of the machine may be implemented with the frequencycontrolled drive, which allows increasing the efficiency of the mine winder operation in terms of dynamic indicators.