This paper deals with a simulation model of slip displacement sensors for the object slip signals’ registration in the adaptive robot’s gripper. The study presents the analysis of different methods for slip displacement signals detection, as well as authors’ solutions. Special attention is paid to the investigations of the developed sensor with the resistive registration element in rod type structure of sensitive elements, which is able to operate in harsh and corrosive environments. A sensing system for the object slip signals’ registration in the adaptive robot’s gripper with a clamping force correction is developed for proposed slip displacement sensor with multi-component resistive registration elements. The hardware implementation of the sensing system for slip signals’ registration and obtained results are considered in details. The simulation model of the proposed slip displacement sensor based on polytypic conductive rubber is modeled by Proteus software. The intelligent approaches with the use of a field programmable gate array (FPGA) and VHDL-model to the sensing system designing allow to define the slippage direction in slip displacement sensor based on resistive registration elements. Thus, this expands the functionality of the developed sensor.

The article presents the main stages of the development of remote control system for the inspection mobile robot operating on inclined ferromagnetic surfaces. The mobile robot remains on the surface and moves along working areas using separate clamping permanent magnets and caterpillars. The focus is on the control system’s architecture and remote data transmission based on Internet of Things technologies. Features of non-expensive Arduino Uno and WeMos D1 R2 mini microcontrolled development boards, cloud service Blynk, as well as multi-tab Android application interactions are revealed at the inspection mobile robot movement on the inclined surface. Experimental results of the proposed system show a good compatibility of chosen hardware, user-friendly human-machine interface and high mobility for future research of modern control algorithms at Internet of Things approach implementation for the extreme robotics.

The operating experience of mechanical seals shows that as a result of angular deformations of the rings, wear of the contact surfaces along radius is uneven. In the area of hydrodynamic load support in the case of a confusor joint or a converging film, the slope of the pressure diagram is such that a decrease in the film thickness increases the hydrodynamic support. This enables stable non-contact sealing operation. When designing mechanical seals, it is necessary to calculate the deformations of the sealing rings caused by both the pressure of the medium being sealed and thermal effects in order to predict the size and direction of the radial cone and avoid unstable operation of the seal. The execution of the rubbing surfaces of the interface of the end pair should ensure the formation of the calculated confusor shape of the sealing gap in all modes of operation.

Purpose. Substantiation of the possibility of obtaining composite cermet electric arc coatings using TiC powder as a strengthening phase, determination of their physical and mechanical properties. Methodology. The microstructure of the composite cermet electric arc coatings was studied by computer metallography using a ZEISS Gemini SEM 500 scanning electron microscope. The chemical composition was determined by X-ray spectral analysis; phases were identified by measuring their microhardness on a PMT-3 device. The bond strength of the obtained coatings was determined by the method of pulling out the pintle on a tensile testing machine UMM-5. Findings. Composite cermet coatings of the steel 65G-TiC system were obtained by the electric arc spraying using TiC powder in a free state. The influence of the technological parameters of spraying on the amount of the carbide phase in the coating was established, and their microstructure was investigated. The porosity, microhardness of the phases in the coating and its bond strength were determined. Originality. For the first time, composite cermet electric arc coatings of the steel 65G-TiC system were obtained by using a powder of strengthening phase in a free state. Their microstructure, microhardness and bond strength were investigated. The technological spraying modes of electric arc coatings have been established, which provide the optimal content of the strengthening phase to achieve their maximum bond strength with substrate. Practical value. The application of the research results obtained in the work, namely, the determination of the optimal technological parameters of spraying for the formation of cermet electric arc coatings with the maximum level of physical, mechanical and operational properties, makes it possible to meet the requirements for the restoration and hardening of worn surfaces. This leads to an increase in the service life of parts not only in mining, but also in other industries.

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