Technologies and technical means for investigation of subglacial lakes in Antarctic is a new developing scientific and technical direction, which today has no clearly established methodology. Based on the developed technology of drilling a new access well to lake Vostok and its penetration as well as analysis of existing methods and devices for bottom sediment sampling, a basic model of a sampler with a walking-type mover, capable of moving along different trajectories and operating in a wide technological range, is proposed. The proposed device model is equipped with different actuators for sampling the bottom surface with different physical and mechanical properties. Based on the presented basic model of the walking sampler, a mathematical model of the device was developed, which was based on the theoretical mechanics methods. As a result of conducted research the dependencies were obtained, which allow making a scientifically justified choice of optimal values for geometric and force parameters of the walking sampler. A conceptual design of the walking sampler has been developed, taking into account the mutual location and coupling of its main components, the overall dimensions of the delivery tool, as well as the esthetic component of the device.
The dynamics of the modernized vibrating jaw crusher is investigated The distinctive feature of the improved dynamic scheme of the crusher from the traditional one is that the centers of rotation of the self-synchronizing vibrating exciters are set in the tops of the articulated rod parallelograms, but not on the jaws. One of the opposite ends of the neighboring rods is hinged to the cheek, and the other is connected to the frame by means of an additional torsion. It is shown that in such a machine the natural frequency of free vibrations of the supporting system can be significantly increased and the dynamic loads on the bearings, including the shock type, can be reduced. In addition, with increasing the distance between the axes of vibration exciters, the stability margin of the synchronous-synchronous mode of operation in the preresonant and overresonant frequency ranges increases, and there is a possibility of implementing this mode in the interresonant frequency range. Operating experience of the modernized crushers in Russia and abroad confirmed their effectiveness and stability in operation, which is a practical test of the developed theory.
