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.

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.

Centrifugal disk dispensers are widely used in various tasks of dosing bulk, dispersed materials. The design of the disk depends on the physical and mechanical characteristics of the dosing medium. The work discusses the development of an analytical model of the movement of a material particle along a conical centrifugal disk depending on the kinematic characteristics of the dosing process and the characteristics of the dosing material, as well as experimental confirmation of the theoretical model, which is relevant for the calculation and design of working elements of this type. The obtained system of differential equations is solved using the Runge–Kutta numerical method. Experimental studies were carried out using the method of a planned factorial experiment. The experiment was conducted for three factors at three levels. The feedback criterion was the performance of a centrifugal conical disk dispenser for bulk materials. The disk cone angle was set at 10, 20, and 30°. The disk diameter was 130, 150, and 170 mm, the gap between the disk and the edge of the hopper neck was 6, 8, and 10 mm, and the rotational speed of the conical disk was 0.65, 1.02, and 1.39 rad/s. The dispensing rate of the dispenser ranged from 15 to 770 g/s, depending on the values of the experimental factors. For use in the regression equation of the natural values of the factors, a method of transforming the terms of the equation from coded values to natural ones is provided. The obtained experimental correlation dependencies were checked for reproducibility with Cochrane’s test, and the adequacy of the model was checked using Fisher’s test. The significance of the coefficients in the correlation equation was evaluated using the Student’s t-test. The difference between the experimental data and the results of the theoretical modeling does not exceed 5%. The obtained system of differential equations makes it possible to model the radial velocity of the ascent of bulk material from the conical rotating disk depending on the rotation frequency, disk diameter, and the height of the annular gap between the discharge throat of the hopper and the conical disk. The analytical model enables the modeling of the productivity of the conical dispenser for bulk materials for arbitrary parameters of rotation frequency, disk diameter, and the size of the annular gap between the discharge throat of the hopper and the conical disk.