PHANTOM CHAINS TONTOR OF BIONIC OBJECT'S MOVEMENTS OF AUTOMATED SYSTEMS. Part 1

ISSN (p) 0321-2211, ISSN (e) 2663-3450 Гіпотези. Нестандартні методи рішення наукових та інженерних проблем приладобудування ГІПОТЕЗИ. НЕСТАНДАРТНІ МЕТОДИ РІШЕННЯ НАУКОВИХ ТА ІНЖЕНЕРНИХ ПРОБЛЕМ ПРИЛАДОБУДУВАННЯ DOI: 10.20535/1970.67(1).2024.307410 UDC 621.9.08 PHANTOM CHAINS TONTOR OF BIONIC OBJECT'S MOVEMENTS OF AUTOMATED SYSTEMS. Part 1 Volodymyr Skytsiouk, and Tatiana Klotchko National Technical University of Ukraine «Igor Sikorsky Kyiv Polytechnic Institute», Kyiv, Ukraine E-mail: This presented work results provides an understanding of how phantom life cycle diagrams of abstract objects can be formed based on the conditions of their existence. Thus, an essential feature of the action of these objects is their possibility of application in automated systems, which is an important aspect of the development of technical bionic means and systems. The problem of using a phantom for modeling actions, movements of objects in space, features of the obtained results is quite widely used in various fields of scientific research. However, there remain tasks related to understanding how the main actions of robotic working bodies of automated systems take place. Thus, it becomes possible to create formalized models of the processes of performing actions of experimental objects in medicine, industry, astronomy, based on phantom constituents of chain and step geometric elements. Thus, it is possible to present similar bionic objects in medical automated systems, which refers to the design of bionic prostheses, exoskeleton systems, as well as systems for scientific research of biomechanical properties of objects. At the same time, we analyze the peculiarities of motor movements, for which we create and analyze phantom models of TONTOR steps and their combination into phantom chains. Prospects for further research, which will be presented in the next part of this work, are the creation of analytical models of phantom features of the existence of various bionic technical means in view of their connection between the volume of the abstract object and the phantom. Similar analytical approaches make it possible to determine the phantom matrix model of the life cycle of a bionic abstract object in automated systems. Keywords: phantom chains; TONTOR step; automated systems; object; movement trajectory; single TONTOR cycles; multi-cycle process of steps. Introduction The development of modern industrial automated production requires new approaches to the production of technical means that are used in various fields, such as, for example, precision instrument construction, medicine, and instruments for scientific research. Therefore, the problems of increasing the accuracy of manufacturing and operation of these tools require an understanding of how to ensure full correspondence between the characteristics of the model (phantom) and the real object. At present, even a simplified consideration proves that the implementation of a technological phantom, that is, combining it with a real function into one whole, is a rather complex process. Therefore, the final mathematical equations give a description of the simplest phantom step. The main problem here lies in the presence of a scrap phantom that acts on the entire cycle of the TONTOR step [1, 2, 3], trying to destroy the volume creation process and even after its creation. As a result, the beginning and end of the step have uncertain coordinates, which is relevant for any process of creating an abstract object. But the peculiarity of the step is that, having a certain reference to the starting point, the end of the trajectory of the object's movement ends in the coordinates specified by the TONTOR touching process. In a broad sense, the step itself has no limitations in its physical basis. Currently, it can be any physical, chemical, biological, etc., phenomenon [4, 5, 6]. So, for example, the usual dialogue between an operator and an automated system during the execution of technological processes can be imagined as a series of steps, each of which has its own physical and mathematical description. This is possible due to the fact that the mathematical apparatus of description is abstract and can use phenomena from any field of science or technology. Thus, if we discard all secondary features, we get the very fact of a certain action, and the mathematical description of this action becomes a secondary phenomenon. Here we can note that the movement actions of technological process objects [2, 7, 8], manipulators of the automated system make up conditional chains that Вісник КПІ. Серія ПРИЛАДОБУДУВАННЯ, Вип. 67(1), 2024 109 ISSN (p) 0321-2211, ISSN (e) 2663-3450 Гіпотези. Нестандартні методи рішення наукових та інженерних проблем приладобудування combine elementary movements into a single work trajectory. Such trajectories have a phantom basis, i.e. preliminary modeling of working motor movements in space. In these cases, the task of combining phantom actions with real motion actions of objects and the working manipulator of the system arises again, which is the achievement of the goal of increasing the accuracy of the execution of the movement trajectory. The problem of using a phantom for modeling actions, movements of objects in space, features of the obtained results is quite widely used in various fields of scientific research and is considered [6, 7, 8, 9, 10, 11, 12]. However, there remain tasks related to understanding how the main actions of robotic working bodies of automated systems take place. Thus, it becomes possible to create formalized models of the processes of performing actions of experimental objects in medicine, industry, astronomy, based on phantom constituents of chain and step geometric elements [13, 14, 15]. Formulation of problem So, as a result of these theses, we have the opportunity to build functions of technological processes on the basis of the fact itself. Quite simple examples, where the concept of a step is clearly defined, can be considered the movement of objects with the help of robotic manipulators in the workspace of automated equipment used in technological processes. At the same time, it is possible to operate on their number and direction to the final purpose, such as such technological processes that have the similarity of the fact of movement in space. This may refer to certain automated technological processes of assembly, which are diverse in their features, for example, with the use of conveyor technology. In these cases, the movement of the object in the workspace has a character that can be described in a certain way by the chain trajectories of manipulator movements. At the same time, the problem arises again, consisting in the combination of phantom chain movements with real motor actions of the manipulators, that is, the implementation of TONTOR steps. The peculiarity of such trajectories is the realization of phantom lazy actions of the working manipulator of the automated syste (...truncated)