Kinematics of the Maneuver of the Multifunctional Machine for Metallurgical Furnaces

Abstract

The article proposes a simulation model of a loading machine for metallurgical furnaces and builds a mathematical model that makes it possible to find optimal trajectories of motion and obtain laws of change in kinematic, dynamic and inertial characteristics for a full operation cycle. The description of the machine motion is made taking into account the nonholonomy of the imposed connections and provides for the possibility of considering arbitrary laws of motion along optimal trajectories. Compliance with optimal working conditions is also ensured by the choice of a special law of motion between the nodal points on the trajectory of movement, corresponding to the change in the direction of movement of the loading machine. Based on the research results, a design scheme and a simulation model with an analytical description of the mechanism operation, including kinematic graphs, are proposed. A simulation model of a loading machine for metallurgical furnaces and a description of its operation modes are made by methods of analytical mechanics.