Issue №: 3 (126)
The journal solves the problems of creation and improvement of machinery and technologies for agriculture: 131 - Applied Mechanics, 132 - Materials Science, 133 - Industrial Engineering, 141 - Power Engineering, Electrical Engineering and Electromechanics, 208 - Agricultural Engineering.
STRUCTURAL AND FUNCTIONAL PROTOTYPING OF THE EXECUTIVE PART OF THE ANGULAR MANIPULATOR ROBOT
Ihor KUPCHUK – Candidate of Technical Sciences, Associate professor Associate Professor of the Department of Engineering Mechanics and Technological Processes in the Agricultural Industry, Faculty of Engineering and Technology, Vinnytsia National Agrarian University (3, Sonychna St., Vinnytsia, 21008, Ukraine, e-mail: kupchuk.igor@i.ua, http://orcid.org/0000-0002-2973-6914).
In today's conditions of total digitization and informatization of all spheres of activity, more and more agro-industrial enterprises direct their resources to the development and implementation of modern technical and technological solutions, to modernize their own production capacities, with the prospect of ensuring competitiveness on domestic and foreign markets. In turn, such technological renewal of the agricultural sector of the economy is usually based on the use of high-tech systems of management, monitoring, control, management and automation of production processes, with the use of highly integrated SMART systems and the involvement of artificial intelligence technologies. Taking into account the significant volumes of cargo processing, agricultural enterprises, in particular in warehouses, a promising direction and reserve for ensuring high labor productivity is the use of robotic manipulators, and research is devoted to increasing their functionality and maneuverability, including through the use of intelligent control systems and optimization of the structure of executive mechanisms. relevant and will have practical value.
The article substantiates the conditions for ensuring functional and structural similarity and proposes criterion equations of similarity for a large-scale transition from a natural sample of an industrial manipulator to a physical model-prototype.
On the basis of the obtained criteria and using the scaling factors, the design parameters of the prototype were determined, a computer 3D model was developed, and based on the analysis of the trajectories, corrections were made to the linear dimensions of the manipulator and the ranges of angular movements of the links, as well as the compliance of the created prototype with the conditions of physical modeling was checked, according to the criteria of similarity.
Also, the article presents the process of manufacturing an angular manipulator by using additive technologies of layer-by-layer build-up of parts on a 3D printer.
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About the journal
G8 – Materials Science
G9 – Applied Mechanics
G10 – Metallurgy
G11 – Mechanical Engineering (by specializations)
The journal "Engineering, Energy, Transport AIC" is indexed according to the following databases and catalogs:
The All-Ukrainian scientific journal “Technology, energy, agriculture transport AIC” is an open-access scientific publication that publishes the results of original research, theoretical and applied developments, as well as scientific papers in the fields of engineering sciences, energy systems, and transport technologies of the agro-industrial complex.
The main objective of the scientific journal “Technology, energy, agriculture transport AIC” is to disseminate the results of modern scientific research and to promote the development of technical, energy, and transport solutions for the agro-industrial complex through the publication of scientific materials characterized by scientific novelty and practical significance in the field of design and modernization of machinery, equipment, and technologies.
The journal’s activities are focused on supporting the development of engineering science, stimulating the implementation of innovative approaches into industrial practice, as well as ensuring effective exchange of scientific achievements among researchers, educators, engineers, and other specialists in relevant fields.
Objectives of the Journal
To achieve its defined objective, the journal ensures the implementation of the following key tasks:
· publication of the results of fundamental and applied research covering the fields of applied mechanics, mechanical engineering, materials science, energy systems, electrical engineering, electromechanics, and transport systems of the agro-industrial sector;
· promotion of the implementation of advanced technical and technological developments aimed at improving the efficiency of machinery, equipment, and production processes;
· creation of conditions for active scientific exchange among research institutions, higher education institutions, industrial enterprises, and other interested organizations;
· support for the development of interdisciplinary research and expansion of cooperation among specialists in various fields of science and technology;
· promotion of the improvement of the scientific and technical level of research related to the design, modernization, and operation of technical equipment used in agro-industrial production;
· dissemination of information on modern achievements in science and technology and the implementation of innovative technologies in the fields of technical support, energy, and transport;
· development of a scientific information environment that facilitates effective scientific communication and the integration of national research into the international scientific community.
Publication frequency: 4 issues per year
Languages of publication: Ukrainian, English
Editor-in-Chief: Vitalii YAROPUD
State Registration: Decision of the National Council of Ukraine on Television and Radio Broadcasting № 1337 and № 1180. Media Identifier: R30-05173
EDRPOU Code: 00497236
Publisher ROR: https://ror.org/05m3ysc06
Publisher DOI Prefix: 10.37128
Technology, energy, agriculture transport AIC is a scholarly professional journal with a long-standing history and stable academic tradition, reflecting the evolution of engineering and technical sciences within the agro-industrial sector of Ukraine.
The journal was founded in 1997 under the title Bulletin of Vinnytsia State Agricultural Institute. According to the Resolution of the Presidium of the Higher Attestation Commission of Ukraine dated September 11, 1997, the publication obtained the status of a professional scientific journal, which enabled the publication of the main results of doctoral and candidate dissertations in technical sciences. From its inception, the journal positioned itself as an academic platform for addressing current issues of mechanization, electrification, and technical support of agricultural production. During 2001–2014, the journal was published under the title Proceedings of Vinnytsia National Agrarian University. Series: Technical Sciences (State Registration Certificate of Print Media KV No. 16644-5116 PR dated April 30, 2010). Throughout this period, a systematic approach to the selection and peer review of scientific manuscripts was established, the thematic scope of publications was expanded, and continuity of scientific directions as well as the development of sectoral engineering schools was ensured. Since 2015, the journal has been published under its current title, Technology, energy, agriculture transport AIC (State Registration Certificate No. 21906-11806 R dated March 12, 2016). The change of title reflected the expansion of the journal’s thematic coverage and its orientation toward interdisciplinary research in mechanical engineering, energy systems, electrical engineering, transport technologies, automation, and digital solutions for the agro-industrial complex.
