The synthesis of motion control of an android robot by the method of generalized dynamic balancing problem for the non-degenerate case of a matrix of connections of a mathematical model - standing on one leg is considered. The dynamic characteristics of the resulting controlled motion are analyzed for various laws of reaction variation in the support.

A method for synthesizing motion control of a four-legged robot dog using the inverse problem method is presented. A universal gait generator is used, which determines the three-dimensional trajectory of the foot point for an arbitrary number of legs. The inverse and direct problem is solved. The stability of the controlled movement of the robot is analyzed.

The paper considers the generalized problem of the machines and mechanisms dynamic balance in terms of ensuring the given laws of altering reactions in the selected links. Representation of equations of the mechanical systems dynamics in the form of differential algebraic equations was used making it possible to obtain mathematical models of the nonlinear mechanical systems dynamics with the arbitrary structure of kinematic and force connections. With this approach, the constraint reactions are determined by algebraic equations from the system coordinates. The problem solution is based on changing the bonds selected reactions due to the impact on reactions in the other selected bonds by adding non-stationary terms to the selected bonds equation. Conditions for rigorous solution of the optimal control problem for a mechanical system are shown for the integral quality criterion not explicitly containing the control functions. The method is aimed at numerical models of the mechanical systems widely used in the programs for dynamic analysis of the coupled systems of bodies. Test examples are provided for manipulator, anthropomorphic robot and controlled suspension of a transport vehicle. The method was realized in the software package for simulating the controlled motion dynamics of the coupled systems of bodies.

The paper presents an experience of using orthogonal hexahedral meshes for simulation of different processes in machine-building products. Stress state of the details of suspension of a cargo vehicle during the movement on random road profile was simulated. Orthogonal hexahedral meshes for lower suspension levers and housing and piston rod of shock adsorber were used. Thermal state of the elements of drive axle and its housing during the movement of a cargo vehicle with constant speed was calculated using hexahedral orthogonal meshes for details and inner volume of housing of the drive axle. Lubrication fluid circulation in the reducer of a cargo vehicle was modelled. Orthogonal mesh for inner volume of the reducer was used to calculate the parameters of lubrication fluid circulation.

A software and hardware complex for creation and research of control systems for mobile robots with walking and wheeled movers is presented. The synthesis of control laws is performed by the inverse problem method; Methods for connecting various SLAM algorithms, including those using data from computer vision devices, are considered.

The control of a robot with a wheel-stepping mover that allows movement in two modes is considered. To move on a flat surface, a single-wheel mover unit is used with steering with the help of selected stepping movers. Overcoming obstacles and performing work operations are carried out with the help of walking movers. The synthesis of robot motion control in walking mode and the method of controlling the direction of motion when driving on a single-wheel mover are presented.

A method for the computation of the lubricating fluid circulation is presented. It uses orthogonal meshes of the inner volume of assemblies and a particle-in-cell method to calculate the flows of lubricant. The lubricating fluid volume consists of a set of particles which can move without interaction in the field of a force of gravity. Particles are sprayed from special areas, move in the inner volume and drain on the border of a volume. Particle movement on the inner surface of a model is calculated using the particle velocity, damping coefficient and normal to this surface. CAD geometry of assemblies is used to generate a mesh of inner volume. The result of calculations can be presented as the movement trajectories of particles or as the accumulation of particles on the border. The charts of movement and velocity of particles can be generated. The program system, which uses this method, is developed. Testing on test samples is performed. The calculation of the circulation of lubricating fluid in the reducer of a cargo vehicle is carried out. Directions of further development are given.

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The spatial model of an all-terrain vehicle with pneumohydraulic suspensions, which allowed executing the estimation of a vibration loading construction taking into account large motions of solid bodies, exact kinematic of suspension elements and features of their mounting on a vehicle, is built. Comparison of charts of power spectral density of vertical accelerations shows quality accordance of calculation and experimental spectra for the examined modes of motion. The built dynamic model fully satisfies the requirements of adequacy to the real object and can be used for further calculations.

The article presents the methods for experimental and theoretical research of vibration loads and dynamic stresses of automobile frame. The comparative analysis of the finite element stress and acceleration is performed with SolidWorks and Ansys software with the use of resistive strain gages and g-meters data obtained during automobile road tests. Frame fatigue life calculation of using multibody dynamics model in FRUND software is given. Load-carrying structures of automobiles undergo external loads which are time- and frequency-variable, depending on velocity, current weight, road profile and other factors. Such loading mode provokes the occurrence of fatigue cracks, and their promotion can entail fracture. Thus, frames and load-carrying structures are subjects of cyclic loading tests purposed to estimate stress level and reliability of the structures and detect possible failures. The motion was considered for following road types: concrete road, smooth cobblestone road and special cobblestone profile. Road types and automobile velocities are corresponding to input data for dynamic simulation in FRUND multibody dynamics system.

A method for orthogonal mesh generation using CAD-geometry is presented. Programmatic implementation of the algorithms of decomposition is made. Testing on different models of engineering products is carried out. An example of decomposition of a model of hydropneumatic spring body is shown.

On the elaborate dynamic model of truck with the specified presentation of elements cabin suspensions are investigated the influence of stabilizer cabin suspension and of stiffness bushing arms cabin suspension on cabin vibration loading with random external road forcing.