Strutinsky S. Scientific fundamentals of the designing of adjustable spherical hydraulic joints for spatial mechanisms.

The dissertation is devoted to scientific fundamentals of the designing of adjustable spherical hydraulic joints for spatial mechanisms. Spherical hydraulic joints allow to increase parameters of accuracy and dynamic characteristics of spatial mechanisms of the hexapod type. Mathematical modeling of the hexapod type mechanism by a method of Monte-Carlo with use of six-measured vectors of position of a platform by the generator of random numbers is executed. As a result of separation of physically unreal positions of the mechanism the ranges of angular positions of spherical supports are defined. Some variants of adjustable hydrostatic and aerostatic supports are designed. The aerostatic support with jet regulation is realized as a pre-production model. At manufacturing of this support technological problems of manufacture of exact spherical surfaces, quality assurance of surfaces and problems of assemblage and support regulation are solved. Details of a jet control system are made by methods of laser stereolithograph (Rapid Prototyping). Theoretical researches of static and dynamic characteristics of spherical hydraulic joints are executed with the stream control. The mathematical modeling of support and control system is executed. Working processes in low-sized slots of supports are theoretically and experimentally investigated. Features of processes which consist in penetration of streams into a slot of a support with formation of stagnant areas in which speed of particles of a liquid is close to zero, and also in formation of return currents are established. Static characteristics of an aerostatic support are experimentally studied. The original procedure of experimental data processing with use of spatial matrixes is offered. Results of experiments are generalized with obtaining of rather simple nonlinear mathematical models of regulating and loading characteristics. As a result of researches the basic constructive and servicing parameters of adjustable spherical support are proved. Reliability of results are confirmed by using of a pre-production model of a spherical support in a real spatial mechanism.