1. Kozlinski M.P., Zinko R.V. One of the main peculiarities of lift-load trucks movement. Materials of International Conference “Sakon ‘92” “Experimental and testing procedure in the development of movement systems of cars and machines”. Rzeszow (Poland), 1992. 6 pages.
The peculiarities of curvilinear motion of transportation with back steering wheels have been investigated. It is proved that the lateral force reaches its maximum value at recover from the turn.
2. Kozlinski M.P., Baran M.I., Zinko R.V. The procedure of choice of hydraulic volume of lift-load trucks handling taking into account operational peculiarities. Works of International Scientific and Practical Conference Problems and Development prospects of design and production procedure of buses, lift-load trucks, auto-cranes and assemblies. Skhidnytsia ’92, Lviv, 1992. 6 pages.
New method of choice of hydraulic volume of lift-load trucks with back steering wheels is suggested taking into account static and dynamic factors in the working and alarm modes.
3. Kozlinski M.P., Korovets I.P., Zinko R.V. The definition of optimum transit characteristics of pressure hydro highways of lift-load truck. The analysis and synthesis of optimum characteristics of car and its systems. State University “Lvivska Polytechnika”, Lviv 1994. Deponated №601.УК-95. 5 pages.
The investigation of the dynamic of hydro-highway of lift-load truck of 4088 make is carried out in the work. The model is equipped by the hydraulic steering system. The transition processes in hydro highways have been investigated due to the worked out computer program and optimum diameter of tube pipes within the range of chosen standard models.
4. Zinko R.V. Prospects of the development of automobiles with non-classical steering systems. The analysis and synthesis of optimum characteristics of car and its systems. State University “Lvivska Polytechnika”, Lviv 1994. Deponated №601.УК-95. 6 pages.
The classification of steering system of go – anywhere vehicles and back steering wheels trackless vehicles. Major problems have been set up in the way of control of such transportation vehicles and the ways of their further development have been shown.
5. Kozlinski M.P., Zinko R.V., Gnatyuk I.N., Korovets I.V. Modern conception of cushioning of lift-load electromotive trucks and practical aspects of its solving. First International Scientific and Research Conference “Movement fluency of Pure ecological automobile at various road conditions and flying objects at loading and breaking”. Moskow, 1997. 3 pages.
The peculiarities of suspensions using the lift load trucks have been carried out. The usage of various coil spring elements have been suggested of the loaded and unloaded trucks and the differences in their characteristics of the strain.
6. Hashchuk P.M., Zinko R.V. The influence of load disposition on operating efficiency mode of lift-load truck. The Fourth International Scientific and Technical Conference on internal combustion engine and methods of transport means. Bulgaria 15-17 October 1997, 5 pages.
Lift-transportation facilities are working with load so the weight of the load might be up to one third of the full weight of the vehicle itself. Because of that we cannot neglect the influence of load location over the operating characteristics of lift load device. The experimental fork lift truck with fork lateral misalignment was created. Complex research was performed on that truck. The research shows the increase efficiency of lift load truck with new device.
7. Hashchuk P.M., Zinko R.V. The evaluation of efficiency of autotransport means on the basis of typical and optimum cycles. International Scientific Conference “Forest transport in the Carpathians: traditions, realities, development prospects”. Lviv 22-24 April 1998, 5 pages.
Usage of elementary optional cycles under testing gives the hidden potential possibilities of experimental fork lift truck with fork lateral alignment. It will also eliminate the influence of non-obvisious pronounced characteristics of old-type fork lift trucks which already are existing working cycles.
Typical and conventional working cycles of new experimental truck has been shown in the article.
8. Zinko R., Gaschuk P. Influence Position the load to fork lift truck efficiency. International scientific Conference of Mechanics ’98. Rzeszow (Poland), june 1998. 1 p.
The influence of the load location over the operating characteristies of lift-transportation vehicles as well as over driver efficiency has been researched. Published experimental data failed to show the real picture of load location influence on transportation vehicle’s efficiency.
The stages of the research work are as follows:
1. The study of load location influence over the operating characteristies of fork lift truck.
2. The investigation of fork lift truck operating cycles.
3. Elaboration of methods and constructive solutions for eliminating of unbalanced load negative influence.
4. The definition of efficiency of suggested solutions from the point of view of increase of the productivity of the whole fork lift truck.
5. The study and further development of the consumption range of innovations’. The aim of the research is the creation of perspective fork lift truck with improved operating characteristics.
The first three stages of investigation have been performed. Thus, the experimental fork lift truck with fork lateral alignment is created. Basic researches have been performed on that fork lift truck basic.
The results of the experiment have just confirmed the efficiency of innovations. The stability of moving truck is increased at the appliance of the lateral alignment device. The truck is easier to control by the driver in rectilinear movement. The vibration of driver seat is decreased in a cross direction.
The idea of creating the complex control and working up the load system has been carried out during designing of centering device. Such system could improve working up the load and might decrease the cost price of the system and rise up its efficiency not only on the lift load trucks.
9. Zinko R.V. Load Influence on the fork-lift truck’s operating efficiency. Fourth International Symposium of Ukrainian engineers-mechanics in Lviv. Lviv 19-21 May 1999. 1 page.
The lift load truck is a specialized type of lifting and transportation vehicles. It is a transportation means that has an apparatus for load processing which is a type of manipulator. Combination of transportation and load processing functions requires an adequate construction of the vehicle. It concerns both construction and the lift-load truck manipulator.
It should be considered that the load has an impact on construction adaptability. Different load-holding devices have been developed for every type of load; move free-motion levels are added to the lift-load truck manipulator, depending on the type of load and technological way of its processing. The dynamics of the lift-load trucks is influenced by the load. There is a 20 – 40 % difference between the loaded and unloaded vehicle. Besides the weight center is shifted, especially in the frontal fork lift trucks. Considerable shift in weight center of the vehicle may lead to loss of stability and if stability is lost in the longitudinal symmetry axis it may cause an accident. That is why stability supply account is considered in the construction of the vehicle along with stability devices. The operator keeps under control the lateral load shift of the vehicle; while longitudinal load shifts cannot be easily noticed (the weight center is determined visually and subjectively). Nevertheless, such shifts reduce the productivity of a vehicle, thus questioning efficiency and security of conducted work.
After research of the problem of cross direction stabilization of weight center, a number of load alignment methods were developed and patented, as well as devices for their realization.
Those devices are invented taking into consideration the peculiarities of manipulator construction. They widen the range of manipulator’s potential possibilities for the better efficiency of the vehicle.
Positioning is one of the main methods. It is based on tensions alignment in the chains of the load lifter.
The introduction of load alignment device resulted in a change in technological side of load processing. It included the operation of load alignment parallel to the operation of transportation and promoted the general efficiency of work.
A new experimental fork lift truck has been constructed for the approbation of the suggested methods. It includes the fork lateral alignment. The results of experiment proved the high efficiency of the suggested inventions. The introduction of alignment device has improved the stability of moving vehicle and made the driver’s work handling the rectilinear motion easier. The vibrochange of the driver’s seat is lower under the alignment device, especially in cross direction. It has been carried out that the usage of the alignment device along with the device for lateral alignment promoted the productivity of the fork lift truck.
The creation of a complex system of load processing management and other truck units control have been developed. Thus, the system would provide a complex approach to improvement of load processing and would consequently reduce its cost price and promote the efficiency of usage of lift load truck.
10. Zinko R.V. A kit of applied programs for investigation of work and movement of lift-load trucks. Measuring and computer engineering in the technological processes. №4. 1999. 3 pages.
The usage of numeral methods (method of Hemming), the structure of links among the "subprograms" in the kit of applied programs were described. According to the goals of researches in the kit subprogram function is used, which gives us an opportunity to make model the way of periodical profile by periodical functions from periodical argument and non-periodical profile - by functions Hewisayd.
Repeated applied programs kit usage approved its efficiency at exploitation.
11. Zinko R.V. Investigation of vibromovement of lift-load truck body by means of numerical experiment procedure. Vibration in technique and technologies. №2(14). 2000. 9 pages.
The complex study of exploitation properties of vehicles, especially lifting and agricultural vehicles, will allow to optimize its characteristics as yet during design. So when it comes to exploitation within specific conditions, it will provide the maximum efficiency of functioning.
The factors which influence lift-load truck’s exploitational efficiency have been classified. It has become the basis for the creation of the mathematical model of fork lift truck’s functioning and movement. The second level of Lagrange’s equations is used for the model. The system of those equations belongs to the non-linear integral differential equations, because they include non-linear derivatives of unknown function as well as their integrals.
This model has been used for creating an applied software package LLTruckTM, which is based on Hemming’s numeral method. The vibrational travel of fork lift truck body at different points especially at the driver’s seat has been studied using the applied software. Employing the model and the applied software simplified the solutions for the range of problems and improved the quality of vehicles’ research.
12. Zinko R.V. The procedure of definition of operating efficiency of lift-load trucks at working cycles. // Scientific Journal of Podillya Technologies University. – 2000. No 3-C. 129 –134.
For mathematical model of the work and movement of lift-load truck the applied software kit has been developed which was subjected to three stage evaluation test, provided for:
1. control test on the basis of the analysis of obvious examples of static’s and dynamics of lift – load truck movements ;
2. the comparison of the engineering calculations given in the written researches with the own calculation results taken during practical tests;
3. the comparison of the results of numerical and genuine experiments.
On the basis of three-stage evaluation test of mathematical model of work and movement of lift-load truck and applied software kit that approves it, the conclusion has been made that the mathematical model gives the adequate pattern of work and movement of lift-load truck; it gives the detail basic parameters of the lift-load truck, the load itself and the road.
13. Zinko R.V. A kit of applied programs for investigation of work and movement of lift-load trucks in agriculture. Visnyk of State agrarian University. №4. 1999. 6 pages.
For mathematical model of fork lift truck functioning and movement, which is written by Lagrange equations of 2nd level the package of applied software LL Truck tm has been created. For description of fork lift truck’s behavior and movement it is necessary to settle the initial conditions of the process; it means to input initial position and velocity of movement of fork lift truck’s main parts. Thus, the research of movement dynamics is the Koshi problem. The usage of numerical methods of calculation, especially Hemmings method, and the structure of connections in between the sub software in the applied software kit have been carried out. The subprogram-function is used in the applied software LLTtm kit, depending on the problem of the research. It allows to model the road of repeating profile by means of periodical functions of periodical argument and the road of non repeating profile by means of single function of Heavy side. Numerous usage of applied software LL Truck tm kit proves its efficiency and convenience in exploitation.
14. Hashchuk P.M., Zinko R.V. Patterns of elements of lift-load trucks working cycle. // State University Visnyk “Lvivska politechnika’’: Dynamics, strength and design of vechicles and devices.- 2000. -No396.- c.42-57.
The mathematic model of work and movement of lift-load truck has been created, which is the basis for the development of applied software kit LL Truck tm. It is suggested to divide the optional working cycle of lift-load truck for separate operations and the latter for elements. The optional cycle can be algorithmically arranged with the help of LL Truck tm kit, which is provided with the procedure of coding of separate elements of working cycle. The procedure of the analysis of the efficiency of lift-load truck in the working cycles has been carried out.
15. I.Lozovyi, R.Zinko. Graphs of structure of links of generalized coordinates for autoloadtransportation vehicles and design technique of mathematics model. Scientific Journal of Podillya Technologies University. – 2001. – No 1., С. 29 – 33.
To show the number and links between generalized coordinates of mathematic models the authors suggest to use graphs. From the analyses of graph structure linkage of generalized coordinate of mathematic model it is clear that they may be divided into two types according to the number of generalized coordinates at i-level. Common to all these graphs is that there is one generalized coordinate on the first level, i.e the coordinate of relative body twist of autoloadtransportation vehicles. The presentations of links of generalized coordinates of mathematic models in the way of graphs allow to learn the mutual influence of movement of one devices and assemblies of autoloadtransportation vehicles on another and construct mathematic models taking into consideration this links.
Besides, the graphs of links allow to define what number and which one of generalized coordinates are necessary to solve definite problem of investigation.
16. Zinko R.V. The procedure of operating efficiency of lift load trucks in operating mode. Measuring and computing devices in technological processes – 2001. - №2. P.128 – 141.
It has been suggested to divide the working cycle of lift-load truck into operations and the latter into elements. From all possible elements 19 features have been taken.
The working cycle can be algorithmically arranged giving parameter values to elements of operations. For these purposes the use of the applied software LL Truck tm kit has been offered which provides for the code elements of the working cycle.
Given example proves the necessity of the usage of the suggested procedure for definition of the exploitational efficiency of lift-load truck in the working cycles.
17. I.Lozovyi, R.Zinko. Structural analyses of flat charts of autoloadtransportation vehicles Measuring and computing devices in technological processes – 2001. - №3. P. 141 – 143.
The classification of vehicles which fulfils the transportation function according to structural and constructive characteristics have been carried out in this work.
The authors consider autoloadt ransportation vehicles to be self-propelled
Vehicles that have different operating characteristics depending on the set of production functions. Among these productions there is a function of space movement of the body that is under processing. The operating characteristics also depend on the operating conditions of their work.
graphs are used In classifications the vehicles chain is marked with a circle and kinematic connection between two chains is marked with the straight or waving line.
The use of graphs gives the possibility to get together the vehicles of different functional classes, generally used, into one group.
Graphs of the structure of flat charts of different groups of autoloadtransportation vehicles allow to make the conclusion that all autoloadtransportation vehicles may be divided into six groups according to the criteria of similarity of the graph.
18. I.Lozovyi, R.Zinko. Structural links graphs of mathematical models of generalized coordinates of work and movement of MTM and the procedure of creating of these models. International conference "Modeling and optimization of complex systems", January, 25-28, 2001. Kyyiv: Kyyiv university. P. 105 – 107.
The authors suggested the use of graphs for the analysis and classification of MTM according to structural and constructive characteristics. It gives the possibility to get together the vehicles of different functional classes according to the criteria of similarity of the graph. Thus, it is reasonable to use graphs for learning the interrelations between generalized coordinates of mathematical models of work and movement of MTM.
The use of graphs as the special links of generalized coordinates of mathematical models allows to realize the interrelation of work of functioning mechanisms of MTM and create mathematical models according to these links. Besides, graphs of the links allow to determine the necessary amount and the particular generalized coordinate that are so important in solving the problem under investigation. On the other hand, it is possible to check the correctness of other written derivatives in the system of equations of mathematical model.
19. R.Zinko. The increasing of lift-load truck’s efficiency due to the load alignment at the fork. Visnyk Ternopil’ State Technical University. – 2001. – vol. 6, N1, p. 74-84.
The classification of patents connected with the load alignment of fork of the lift-load truck has been carried out and the algorithm of such alignment has been worked out. The results of physical experiment has been taken in which the influence of non-symmetric positioning of the load of the fork lift truck on the vehicle’s efficiency.
20. R.Zinko. Adapted method of designing of mobile mashines// Design, production and operating of mobile vehicles and trains: Incr. Of works of “Bus” association. Issue 5. Lviv. 2001. P – 157.
The operations of working processes of mobile mashines are divided into elements. The elements are used for construction and modeling of any computer working processing of mobile mashines.
21. Hashchuk P.M., Zinko R.V. Methodology of researches on parameters and characteristics of mobile machines with variable center of weight (MVCW) // Design, production and operating of mobile vehicles and trains: Incr. Of works of “Bus” association. Issue 7. Lviv. 2003. P 35 – 45.
The paper is devoted of quality and efficiency of functioning of machines with the variable center of weight (MVCW) at the expense of creation of conditions for their automated designing by research, development and introduction of an adaptive method of accounts of their design and running cycles of operation. The classification MVCW is executed on the basis of structures of the flat constructive circuits. The technique of construction of mathematical model of work MVCW is developed which uses the columns of structure of communications of the generalized coordinates of models MVCW and takes into account the factors, which influence efficiency of their operation. To modeling work MVCW adapted standard PAP of the decision of the differential equations of the second order. The overall perfomance MVCW in concrete conditions of operation is investigated and this basis the new design of a suspension bracket of an auto-loader is developed. On the achieved parameters the experimental auto-loader responds a technological level of foreign analogues.
22. Zinko R.V., Divejev B.M. The improvement of the design features of fire-brigade’s emergency auto-loaders. Visnyk Ternopil’ State Technical University. – 2004. – vol. 9, N1, p. 42-52.
Possible means of rescue of population at fire in multistoried buildings have been carried out. Emergency auto-loaders have been chosen for this purpose. The analysis of sections tension of emergency auto-loader has been made and calculations of the model have been carried out. On the basis of the computer modeling quantitative limits of the improved parameters of extended emergency auto-ladder have been defined.
23. I.Lozovyi, R.Zinko. Results of researches on vibration of special transport vehicles. Vibration in technologies. – 2004. - №6(38). P.35-37.
Creation of mathematical model allows to investigate vibration of transportation vehicle. The computer data of the influence of the load, road profiles and the movement velocity on the vibrations of the vehicles have been carried out.
24. A.M. Makovejchuk, R.V. Zinko. The research of non-stationary thermal models of heating of lift-load truck’s cabin. MCTTP. – 2004. - №1. – P. 180 – 184.
Some non-stationary thermal models of heating of lift-load truck’s cabin have been investigated. The influence of the design parameters of the cabin and the heater, the material of thermal isolation, its thickness, the productivity of the heater, etc. on the efficiency of the heating have been investigated by means of created mathematical model.
The efficiency of the heating system at non-stationary thermal mode is defined by thermal features of the radiator of the heater; thermal leakage through the body of the heater and heating reduction due to the air exchange of the cabin have been determined on the basis of the carried out investigations.
25. Bybliuk N.I., Zinko R.V., Dadak R.M., Makovejchuk A.M. The dependence of dynamic features of the two-chains autotrucks on the strain characteristics of stricking device.
The investigation of dynamics features of two-chains autotrucks in the mode of bracking depending on characteristics of stricking device has been carried out. It is determined, that the dynamic of vibration of autotruck during braking is essentially nonlinear. The main reasons for that are the presence of clearence (gaps), former ramming and friction in the stricking device.
26. Bybliuk N.I., Zinko R.V., Dadak R.M., Makovejchuk A.M. The dependence of dynamic features
of the two-chains autotrucks on the strain characteristics of stricking device
The investigation of
dynamics features of two-chains autotrucks in the case, when auto truck move
across a obstacles as timber beam, depending on characteristics of striking
device has been carried out. It is determined, that the dynamic of vibration of
autotruck during braking is essentially nonlinear. The main reasons for that
are the presence of clearence (gaps), former ramming and friction in the
stricking device.
27. I.S. Lozovyj, R.V. Zinko. Mobile robot is offered for
extinguishing of fires. Fire safety. Lviv – 2006, N8. P. 58 – 62.
Construction of
mobile robot is offered for extinguishing of fires. The developed method of
forming of equation of dynamics motion for executive manipulator by means
Lagrange II type equation .
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