Two systems of milking machines were considered - biotechnical and vacuum. Methodology for estimation of efficiency of the "machine-animal" biotechnical system was worked out. The dependences of the efficiency parameters of the technical system operation were analyzed. The KMMO operator load factor of the milking machine was proposed. The factor characterizes the technological process of the machine milking. The analytical dependences were worked out for the simulation of the productivity of milking machines and oscillation of the vacuum-gage pressure. As to the simulation results, when the vacuum pipeline diameter was increased the oscillation of the vacuum-gage pressure decreased. The results of analysis and theoretical researches on technological process of the cow machine milking gave a possibility to define the requirements to the improvement of technological process and technical equipment, which will provide the increase of efficiency of the milking systems. Usage of the developed cyber-physical system of the machine milking of cows will increase the productivity of the milking machine in 1.26…1.85 times. At the vacuum gage pressure oscillation of ΔPvp = 2500 Pa the suction ability of milking machine will be E=4.093 m/s accordingly. The defined index of efficiency of the adapted systems functioning of the milking machine is KBTS2 = 55.3.

Almost every branch of industry, at a certain point, utilizes omnifarous materials in their granular form. A key constituent in many bulk material logistic systems is the hopper, which usually acts as a buffering component. In order to achieve the desired throughput, the geometry of the particular hopper must be carefully determined. Considering the geometric properties of the given hopper, the inclination of the walls and the outlet orifice characteristics are the pivotal determinants of hopper functionality. In this paper, the authors have developed an analytical model of the conical hopper’s mass efficiency and compared the model with the experimental results for two distinctive granular materials. The model inputs were: the density of the bulk material, critical angle of material repose, generatrix inclination angle of the cone, and diameter of the circular outlet. The experiment was conducted according to a 32 full factorial design. The repeatability of the results was examined according to Cochran’s theorem and the adequacy of the data was evaluated via Fisher’s criterion, which confirmed the quality of the mathematical model. The error of the developed model does not exceed 4.5%.

INMATEH Agricultural Engineering is an open access international journal that publishes reviewed original research papers of both experimental and theoretical nature in the following areas: Technologies and technical equipment for agriculture and food industry, Environmental-friendly agriculture, Renewable energies, Technical equipment testing, Environment, Transport in agriculture, others

To transport of the air in the pipeline, an analytical model is developed that takes into account the gas velocity, its kinematic and dynamic characteristics - density, viscosity depending on the pressure in a given space of the pipeline. The analytical model makes it possible to calculate the...

The research is aimed at creating a methodology for increasing the positioning accuracy of an industrial robot and minimizing the vibration of the robot gripper by applying machine learning based on the developed mathematical model for estimating the positioning error. Two components of positioning accuracy are considered: geometric and kinematic errors and elastic static deformations. The dynamic error in the partial system of motion of the robot manipulator links is analyzed. The equation of partial motions is obtained from Lagrange’s differential equation of motion of the II kind. The system of differential equations for the positioning error was solved analytically by Euler’s method. An example of modeling the position and orientation error of the gripper due to temperature deformations of the third link for the manipulator scheme is given. An example of the modeling of static deformations and errors of the manipulator with elastic pliability of the robot links is given. An example of dynamic error modeling in a partial system of motion of the robot links is given. The proposed method of modeling robot gripper positioning errors makes it possible to increase the positioning accuracy of the industrial robot and minimize the vibration of the gripper. Having a mathematical model of positioning errors, it is possible to compensate for the positioning error by changing the speed of movement of the gripper reference point before determining the direct kinematic task.