Vibro engine movement is viewed in a horizontal or inclined plane. The mathematical model includes a complete body of motion with a sliding or rotating engine inside (with extra mass). In general, the system has a minimum of four degrees of freedom (three degrees of freedom for the frame, one for relative motion of the internal mass). If, in addition to the vibro engine (robot), the towed object is added, then there may even be five to seven degrees of freedom. In the process of generating system motion, additional micro-compression with the foundation takes place. Computer technology was used in the study of the dynamics of such a complex object. It has been found that the main parameter of the drag effect is the slip friction coefficient, which should be chosen as maximally possible or as necessary to use sharps. The results of modeling are presented. For example, it is noted that the average speed can be up to 0.5 m•s -1 . The ability to pull a load on a robot has been analyzed. It is understood that in this case the driving speed is reduced. The system can be used for moving robotic objects.

Collisions between solid objects in machine building, technology and everyday life are widespread. However, analysis of the movement of solid objects by analytical methods is difficult even in the case of plane motion. The main problem arises when the collision process occurs with several successive impulse points. Then the points of the collision contact move along the surface of the object. Therefore, the equation of the boundary conditions must be solved. In these cases, the only sensible option is to perform experimental investigations or simulations by computer programs. In the first part of this work, 3DOF's solid body movement is analysed in a vertical or horizontal plane with collisions against the walls of a fixed or moving endless mass container. Different body shapes with convex and concave sections are considered. Graphical analysis of displacements, velocities and accelerations is given. Opportunities for object orientation or transport on the bottom edge of the container are displayed. The second part deals with the movement of several solid bodies in a closed or open container. Opportunities and problems in the analysis of many DOF systems are shown. The third part of the thesis contains simple movement experiments that give good accuracy to theoretical modelling results. The difference can be explained by the properties of real objects, such as the change of the slip friction coefficient in the impact. The work results can be used in machine building and robot technology.

The aim of the paper is to analyze and optimize the operational safety and efficiency of wind energy conversion equipment. A wind energy conversion device equipped with one oscillating flat blade has been developed and studied. In this device, lateral surface of the blade is firmly attached to the crank, which is kinematically connected with the generator's slider moving inside the electric coil. As a result, electrical energy is produced in the linear generator. The considered electromechanical device is described by the second order differential equation. In this equation, the interaction of wind flow and relative motion of the blade is described by the approximate relationships of classical mechanics. Operation of the system due to the action of air flow is simulated with computer program Mathcad. Possibilities to obtain energy with generators of different characteristics, the operation of which is regulated by mechatronic control, have been studied. The effect of a constant wind flow with a constant speed and also with a harmonic or poly harmonic component is considered. Partial parametric optimization of the electromechanical system has been performed. Graphs for the change of plate phase coordinates, as well as for the change of the obtained power are presented. The results obtained in the paper can be used in the study of similar fluid flow interactions at damping or energy extraction.

In the daily life and in using technologies people interact with continuous medium like air or water. In present article a motion of the vibrator with constant air or water flow excitation is observed. In the first part of the article a motion of the vibrator with constant air or water flow velocity excitation is investigated. The main idea is to find optimal control law for variation of additional area of vibrating object within certain limits. The criterion of optimization is the time required to move object from initial position to end position. For the solution of high-speed problem the maximum principle is used. It is shown that optimal control action is on boundaries of area limits. Examples of synthesis of real mechatronic systems are given.

The authors' research on the application of vibrating motors in technology, technologies and everyday life is continued. Unlike previous studies on the movement of an object over the dry surface of another object, the movement in fluid (water, air) is analyzed here. The movement in the vertical plane of the object, which on the outside consists of a monolithic body with wide wings, is considered. Inside this first object is a vibrator or a second moving object controlled by mechatronics. A simplified movement of an object is considered, in which the rotation around the center of mass does not take place, which imposes additional rules for the synthesis of the system design. The motion is described by two second-order differential equations, which take into account:gravity interaction; -buoyancy or the Archimedes' principle; -the forces of interaction between the hull and the fluid, which depend on the square of the absolute speed of the translational movement of the hull; -similar wing interaction force; -law of relative motion control of vibrator; In addition, the possibility of mechatronic motion control by changing the angle of the wings towards the body has been used. The obtained differential equations are analyzed numerically at different internal vibrator motion laws. In addition, the soaring motion of the object, which depends on the control of the wing angle, as well as the additional motion of the fluid flow, have been studied. The research results are illustrated with phase coordinate graphs. The results obtained in the work can be used for the analysis, optimization and synthesis of new flying and soaring objects.