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:V. Jovanovid, D. Jano5evid, N. Petrovi6: Analysis of axial bearing load of a rotating platform1. :drive in hydraulic excavators, Tehnidki vjesnik/Technical Gazefre 2014., 1330-3651,1 I|d23

.*.-U'piver7itetuosijeku.F1kultetuSl1vonskomBrodu,No.f,.Vo1.21.,P-P.263:Z70:,V. Jovanovid, D. Jano5evid and D. Marinkovid: Selection procedure for an axial bearirg of 12. ,slewing platfor* drive in hydraulic excavators, Acta Polytechnica Hungarica, 2015., Journal of }d23

:

:D. Jano5evid, V. Jovanovid, N. Petrovid: Spectrums of axial bearing load of a rotating platform:

, :drive in hydraulic excavators, International journal of science and technology, Scientia Iranica, }d'23J' ',2075, Sharif University of Technology, Tehran, I.R. Iran, on line :

V. Jovanovid, D. Jano5evid, N. Petrovi(,: Experimental determination of bearing loads int

4. rotating platform drive mechanisms of hydraulic excavators, Facta Universitatis Series:, M51

:V. Jovanovi6, D. Jano5evid, J. Pavlovi6: Experimental analysis of manipulator joints loading in,

5,, 'hydraulic excovators, ANNALS of Faculty Engineering Hunedoara - International Journal of M51

, D. Jano5evi6, V. Jovanovi6, P. Jankovi6, P. Mi1i6, J. Pavlovid: Metoda za el<sperimetalno,

odredivanje oQtora kopanja hidrauliikih bagera, Tehnidko re5enje, Razvijeno: u okviru projekta6. tehnolo5kog razvoja Teorijsko-eksperimentalna istralivanja transportnih ma5inskih sistema,i M85

evidencioni broj 035049, godina realizacije 2013., primena: Ma5inski fakultet Univerziteta u

NiSu.D. Janosevii. V. Jovanovi6, P. Mili6, N. Petrovii, J. Pavlovi(,: Sofnerski paket za optimalnu.sintezupogonskihmehanizamamanipulatorahidrauliikihbagera,Tehnidkore5enje,Razvijeno:

7. :u okviru projekta tehnolo5kog razvoja Teorijsko-eksperimentalna istralivanja transportnih; M85:ma5inskih sistema, evidencioni broj 035049, godina realizaclje: 20ll - 2012., primena:

,Ma5inski fakultet Univerziteta u Ni5u. ,

D. Jano5evi6, J. Pavlovib, V. Jovanovid, P. Mili6: Kinematic and dyiramic simulatioi of the

8. ,wheel loaders with the z-bar working mechanism. IMK-14 - Research & Developement in }1452

'D. Jano5evii, N. Petrovi6, P. Mili6, V. Nikoli6: Tribological criteria optimization oJ

o manipulators driving mechanisms of mobile machine,s, Machine Design 2011., ISBN 1821-'' ,.l25g,University of Novi Sad Faculty of Technical Sciences Adeko - Association for Design, }d52

:D. Jano5evid, N. Petrovi6., V. Nikoli6: Mechanism synthesis of manipulator of mobile,

10.'machines, MACHINE DESIGN, ISBN l82l-I259, The editor in chief: Kuzmnovid S., }/r52:UniversityofNoviSad,Facu1tyofTehnicalSciences,ADEKo,NoviSa42'0l0?pp'55-58'V. Jovanovid, D. JanoSevii, J. Pavlovid: Experimentil determinatio,n of resistance digging of

lI. 'hydraulic excavator,LlMK-l4lrlcrpaxranarre z pasnoj 2013.,ISBN 0354-6829, Institut IMK , M53:

:D. Jano5evid, P. Mili6, D. Markovi6, V. Nikoli6: Optimization of kinematic chain parameters in '

72. thydraulic excavators,lstraZivanje irazvoj IMK 14 20|2.,ISBN 0354-6829, Institut IMK M53i

11 :synthesis of slewing platform drive mechanism of mobile machine, The Fifth International N/r??"' Conference Transport And Logistics, TIL 2014. ISBN 978-86-6055-053-0, Ma5inski fakultet

.I

U]ili;l; !j,!,'Jti;;51;"i?lirp1,rouie, N petrovi c: Definition or direcred digging force ror''orrrrr*nnt of the hydraulic excavator worh The 8th International Symposium - KOD 2Ol4 -

MACHINE AND INDUSTRIAL DESIGN IN ME,CHANICAL ENGINEERING, ISBN 978-86-14. 7892-615-0, Faculty of Tehnical Sciences, University of Novi Sad Slovak University of M33

:Technology in Bratislava International Federation for the Promotion of Mechanism and,

:Machine Science - IFToMM Association for Design, Elements and Constructions - ADEKO,12.06.-15.06.2014., pp. 51 54.

l5 V. Jovanovi6,_D. Jano5evi6, J. Pavlovi6: The kinematic and dynamic analysis o.f the hydraulic, M33LJ'

excavators, VIII International Conference "Heavy Machinery-HM2014",Zlatibor, ISBN 976-:

i86-82631-74-3, Faculty of Mechanical and Civil Engineering, Kraljevo, 25-28 Jrxrc, 2014,',pp.A187-192.

.V. Jovanovid, D. Jano5evid, J. Pavlovii, N. Petrovil: Control of slewing platform drive ofmobile machines, XII Intemational SAUM Conference on Systems, Automatic Control and

M33'o' ,M.u.urements NiS 2014., ISBN 978-86-6125-117-7, Universiiy of NiS, Faculty of Electromc,:

, .V. Jovanovid, D. Jano5evi6, J. Pavlovi6: Analysis and synthesis drive movement of hydraulic''17. excattators,International stientific conference COMETa 2014., ISBN 978-99976-623-16, M33

' Y. Jovanovid, D. Jano5evii, N. Petrovi6, J. Pavlovid: Bolted connections load of a slewing,

10 bearing rotating plaform in lrydraulic excavators, X Intemational symposium - Research and N,r??r o.'"' design for industry - Belgrade - December 2014., ISBN 978 - 86-84231-35-4, Mechanical TYLJJ

V. Jovanovid, D. JanoS;;iC, J. Pavlovic, N. Petrovic: Vibration antalysii hydraulic excavatois,

. 19. t24th International Conference Noise and Vibration2}l4.,IsBN 978-86-6093-062-2,29-31 M33:loctober,20l4.,Facultyofoccupationa1SafetyNi5,pp.217-220.

D. Jano5evid, V. Jovanovid, J. Pavlovid: Analysis of the performance parameters of mobile

)o machine, 6st International stientific Conference Science and higher education in function of M??-"' sustainable development - SED 2014, ISBN 978-86-83573-43-1, High business-technical:. .r"hoot of Uzice,

-03-:10-::-0-1,:,10.2Q_1{,, pp_._l l1-ll8: __- .Di*"seniC, V. .lo"u"o"ie, l.F*iouiS p. wni:.Zrolyii of a iouti'iiiii resistance o/iiiii;iir:

',27. ,mobile machine,q International stientific conference COMETa2014.,ISBN 978-99976-623-16,, M33:

. D. Jano5evid, V. Jovanovid, J. Pavlovid, P. Milii: Synthesis of drive mechanism manipulators

).) mobile machine, X International symposium - Research and design for industry - Belgrade - N/??"'' December 2014., ISBN 978 - 86-84231-35-4, Mechanical Engineering Faculty, University of..:Belgrade. pp.75-80.

I ,V. Jovanovid, D. Jano5evii, N. Petrovi6: Managing project risk using analythical hierarchical:

, )? process, 6st lntemational stientific Conference Science and higher education in function of Nir?1-"' sustainable development - SED 2014, ISBN 978-86-83573-43-1, High business-technical

I ,V. Jovanovid, D. Jano5evid, J. Pavlovid: Decisions about the choice of suppliers with ahp),

. 24. :method,IY International Conference Industrial Engineering And Environmental Protection2014 M33

, .J. Pavlovi6, D. Jano5evii, V. Jovanovi6, P. Mili6: Dynamic analysis of the z-bar loader working',mechanism. The Fifth International Conference Transport And Logistics, TIL 2014.ISBN 978- M??-"' ,86-6055-053-0, Mechanical Engineering Faculty, University of NiS,, 05.6.-06.6.2014., pp. 119-

)122.i ,Jovan Vladi6, Radomir Doki6, V. Jovanovid, Dragan Zivanit Simulations of elevator cabins'

26. ,lifting and dynamic models, The Fifth International Conference Transport And Logistics, TIL M33: t:20l4.ISBN 978_86_.6055-053-0? Ma5inski fakultetNiS, 05.6:-06.6.20._14.,pp.69 73.

J. Pavlovi6, D. Jano5evii, V. Jovanovid, P. Mili6: Kinematic analysis of the z-bar loader,:working mechanism, The 8th International Symposium - KOD 2014 - MACHINE ANDI:INDUSTzuAL DESIGN IN MECHANICAL ENGINEERING, ISBN 978-86-7892-615-0,.

, 27. :Faculty of Tehnical Sciences, University of Novi Sad, Slovak University of Technology ini M33

, ,Bratislava lnternationa] Federation for the Promotion of Mechanism and Machine Science -i, :IFToMM Association for Design, Elements and Constructions - ADEKO, 12.06.-15.06.2074., pp.

51-54:J. Pavlovi6, D. Jano5evid, V. Jovanovid, SaSa Petrovi6: The development of hydrostatic *r::'

1a transmission of wheel loaders, VIII International Conference "Heavy Machinery-HM 2014",' r\/1?Zlatibor,ISBN 978-86-82631-74-3, Faculty of Mechanical and Civil Engineering, Kraljevo 25-

:28 June, 2014. pp.A43-48rD. Jano5evid, J. Pavlovii, V. Jovanovid, P. Mili6: Optimal synthesis of the driving mechsnism ol

)q bucket articulated trucks, VIII International Conference "Heavy Machinery-HM 2014", M??'-' Zlatlbor, ISBN 978-86-82631-74-3, Faculty of Mechanical and Civil Engineering, Kraljevo 25-28 June, 2014. pp. Al l3-l 18.

?n D. Jano5evid, Ivan Savi6, V. Jovanovid, J. Pavlovii: Regulationfor ltydrostatic transmission o/ M??machines and vehicles, XII International SAUM Conference on Systems, Automatic Control,

,and Measurements NiS, 2014. ISBN 918-86-6125-117-7, University of NiS, Faculty of:

J. Pav1ovi6, D. Jano5evi6, Y. Jovanovid, Ivan Savi6: Motion regulation of the wheel loaders,,

,, il'i,f5Ti.;:Ti;fllY;Tf,TlTo"""i',ihT'r*XflTl",?lfill,ri#r;;i,'#lix.iii,: M33

iNovember 12-14.201 4., O l2l 1 -4.

rI. Savi6, D. Jano5evi6, V. Jovanovid, J. Pavlovil: Implementation methods fdm for decision-

7) making in design, IV International Conference Industrial Engineering And Environmental M??"-' Protection2014 (llZS 2014) October 15th,2014, Zrenjarin Serbia, ISBN 978-86-7672-234-1,pp.342-347

33. evaluation of transport modes, International Scientific-Expert Conference On Rai1ways,2014.' M33iISBN978-86-6055-060-8,9.10october,2014.,pp.113-116.D. Jano5evi6. J. Pavtovi6, V. Jovanovid: Application of the mobile machines in ratiliay'

34. transport, International Scientific-Expert Conference On Railways, ISBN 978-86-6055-060-8, M339- 1 0 Octob er,-?01 4., pp.24l -244

I ,J. Pavlovid, D. Jano5evi6, V. Jovanovid, N. Petrovil: D efinition of directed digging force,

,' :#"';;7,;;:';y;;:;,"1{,W:j iiixi';{"{(';;;"";;Io:i#!;;'{*":tr:;::^i##::?; M33

: .F?gU!_ty, University_of B_elgrade, pp.12-3-130 , '

. .V. Nikoli6., D. Jano5evi6, P. Mi1i6,: The Load Spectrum of Axial Bearing of Hydraulics,

2,A Excavator with Shovel Attachmend Mechanical Engineering in XXI Century, Second M??-"' International Conference, NiS, ISBN 978-86-6055-039-4, Ma5inski fakultet NiS, 20.6.-:-21.6.2013., pp. 339-343.

. iD. Jano5evid, N. Petrovi6., V. Jovanovi6, J. Pavlovid: Dynamic stability analysis of hydraulic,',

37. iexcavators, Mechanical Engineering in )O(I Century, Second Intemational Conference, NiS, M33

,V. Nikoli6., D. JanoSevid, P. Mi1i6,: The Load Spectrum of Axial Bearing of Hydraulics

re Excavator with Shovel Attachmenf, Mechanical Engineering in XXI Century, Second N/r??.'"' International Conference, NiS, ISBN 978-86-6055-039-4, Ma5inski fakultet NiS, 20.6.-

:21.6.2013., pp. 339 -343.

I iD. Jano5evii, V. Nikoli6, N. Petrovic.: Determining the load spectrum of axial bearing slewing

?o platforms of hydraulic excavator, XX Triennial International Conference MHCL 2012, vf??"'' Material Handling, Constructions and Logistics, ISBN 978-86-7083-763-8, University of

;O. Jano5evi6, N. Petrovi6., P. Mili6, V. Nikoti6.: Optimal synthesis driving mechanism of:baset dumper, The 7th Intemational Symposium - KOD 2012 - MACHINE ANDIINDUSTzuAL DESIGN IN MECHANICAL ENGINEERING, ISBN 978.86-7892-399-9,

40. Faculty of Tehnical Sciences, University of Novi Sad Slovak University of Technology in M33Bratislava International Federation for the Promotion of Mechanism and Machine Science -

, TIFToMM Association for Design, Elements and Constructions - ADEKO, 24.05.-26.05.2012.,,:

pp.127-132.

, .D. Jano5evi6, N. Petrovi6.,V. Nikoliil: Mechatronic systems of regulation ond management o/,,mobile machines, XI International SAUM Conference- on Systems, Automatic Control and

.41. :Measurements SAUM 2012, ISBN 978-86-6125-072-9, Association of Serbia for Systems,: M33:Automatic Control and Measurements Faculty of Electronics, University of Ni5 Faculty of:MechanicalEngineering,UniversityofNi5,|4.11.-I6,ll.20|2.,pp.l36-I39.D. Jano5evii, N. Petrovii.,V. Nikolid.: a,nitia hidrauliikih transmisija trahora guseniiara,-

, 42. ,lst International stientific conference COMETa 2012., ISBN 978-99938-655-4-4, Faculty of M33

; .D. Jano5evi6, N. Petrovi6., P.Mili6, V. Nikoli6.: Modelling resistance of digging of hydraulic'

/.1, ''excevators.

The seventh international triennial conference heavy machinery HM 2011, ISBN M?i'-' ,978-86-82631-58-3, Faculty of Mechanical Engineering, Kraljevo, 29.06--02.07.2011, pp. 85-

88.

. .D. Jano5evid, N. Petrovi6., P. Mi1i6, V. Nikolid.:, Nominal mass criteria for *rnipulo,li,i'' 44.'optimization of mobile machines, The 7th International conference research and development of M33

, ,mechanical elements and systems - IRMES 2011, ISBN 978-86-6055-012-72 Mechanical

45.

46.

47.

Engineering Faculty, University of NiS, 27 .04.-28.04.20I l, pp. 521 -524.

D. Jano5evid, B. Andelkovid, N. Petrovii., V. Nikolid: Analysis of the energ/ pirameters ofhydraulic excavator method of dynamic simulation The International conference, Mechanical: M33

D. Jano5evid, V. .Nikoli6, M. Dordevi6, S. Potkonjak: Regulacija hidrostatiikih pogonamobilnih maiina, detvrti simpozijum sa medunarodnim ude5dem transport i logisti\1 TILi

M6320ll.,ISBN 978-86-6055-014-1, Mechanical Engineering Faculty, University of NiS, 27.05.-':

Z7 105?011,, pp, 1 15-120:

D. Jano5evid, P. Mi1i6, V. Nikoli6, J. Pavlovi6: (Jporedna analiza hidrodinamiikih i'hidrostatiikih transmisija traktora guseniiara, HIPNEM 2012. M63

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rV. Jovanovi6, D. Jano5evi6, D. Marinkovil: Determination of the Load Acting on the Axial4. :Bearing of a Slewing Platfurm Drive in Hydraulic Excavators, Acta Polytechnica HungaricaMZ3

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,BerrKrx Iln(fpacrpyK:rypHl4x o6jexara (ryrena, HaceJba, 6paua). Bpojne cy kt ceKyHAapne (pynxqzjexLrllpaynwtxrax 6arepa xao Ixro cy paBHalbe, pa3pr.rBarre t ca6Ea:e;e noAnora, pymebe crapr.rx 3rpa1a kr

Apyrux o6jercara.

'llpu o6aubarby pasnl4qurl4x SyHxqrEja, cnojy rpocropHy Maur{rrynarlujy xugpayrnaqxu 6arepn ocrnapajy:olmroM ron(fvrypaqujou xuHeMarrlqKor naHrla xoja ce cacrojn oA: ocnoHo-Kpernor Mexanr{3Ma, o6prnorqraHa - o6p:rue nnar$opue I4 Bl{IrreqraHor MaHr{rrynaropa wqu je flocneArlr{ qnaH irJrar Marlr.rHe. IlpocropHyMaHl4rynallujy larepa ouoryhyje KLIHeMaTI,IqKI.I rap: ocnouo-Kperur.r MexaH[3irM - o6prna nnar(poprua, rroBe-,sau o6prurarra grno6otr y o6lury axcraja-unor :rexaja BeJrr4Kor rrperrulrKa. IIp, rome je ocnoHo-KperHr4:MexauIr3aM, ocJIorLeH Ha rlonnory, peJrarr{BHo HenoMr{trH[ rrJraH y oAHocy na o6pruy nrar(foprr,ry xoja uoNe::Aa ocrBapl{ HeolpaHlltleuo o6prarre y o6a cMepa oKo Beprr.rKi}JrHe oce srro6a. Tor<orra MaHyfiynaqr{oHor 3aAarKa:6erepa, Ao oxperarba unar(fopMe Aona3l{ rlp}r oreparluju upeuocaMarep:Eautaus paBlu 3ixBararba.{o paBHrr:rlcroBapa, ra ouepaqujuuz6opa HoBe paBHLI 3axBararba, rrrro rrrlrHr.r Br{rrre o.q rroJroBrrHe rpajarra MaHr{[ynaUH-:

O6prarre ular(popnae orraoryhyje o[IrrrLI Molen roroHcKor MexaHr.r3Ma xoju ce cacroju o4 :rpanc(fopMarl]roHor,(xu4pocraruuxor) Leila - axTyaropa (xu4porvroropa) v. rpeHocuor (uexauuuxor) Aena - rnaHerapHor,rpeHocH[IKa (pe4yxropa) cupernyror ca osy6rsenr,ru BeHrIeM axcrajannor nexaja.Xra4paynuuxra 6arepu ce oAnilrcyje 6pojuourhy MoAena (upexo 30) pasnraur{rrrx BeJrr.rqr4*a, Mace oA 500 aor1000000 kg, xao u 6pojnomh.y napr.rjanrn (npexo 30) cnaxor MoAena. Taro 4a cevrcru MoAen 6arepa uoNe:

,orIpeMrITI4 pasJIr4rMTuM BapIrJaHTaMa KperHor MexaHusua (ca fyceHlrrlaMa r.r rrueyMauaquua), pa3nuq[TuM,BpcraMa Il xou(furypal{ujaMa MaHlaflynaropa (gy6[HcKr.r ]r yroBapHr.r, TporuraHr.r u qerBopovnauz), Kao r4l

6pojnrana urarurMa (4y6Lurcxe r{ yroBapHe Karrrr.rre, rpa6unrzqe, xBararrr4, KyKe, uexuhz, ... ) ga o6anrsarre:tpa3nrqrrl4x OyHqrja. [Ipu roMe, 3a cBe rvroryhe rconsurypaquje rrao4ena 6arepa, roroHcKlr nrexanraga:n,.o6p:rgerrrartpopueocrajekIcTvI,IIITocI,IHTe3yIIofoHaII[1HI,IBpJIoKoMIIJIeKcHoM.Ilperne4 AocaAalrrlrl{x I{crpaxLrBasba uoxasyje Aa HeAocrajy pesynrurur ucrpa}KvrBatsa Be3aHrr 3a rrocrynKec[HTe3e rloroHcKor MexaHI{3Ma o6pure una:r$oprrae xr,rApaynvtruzx 6arepa. O6asrena r4crpaxr.rBarra, y onoj'o1ilacru, ytnauoM ce oAHoce Ha pe3ynrare auanr.r3e Be3aHe 3a: perynaqujy yupan rbaFba, xu6pra4ne rroroHe H,

ipeKyrlepallujy euepruje roroHcKor cllcreMa 6arepa nprr oKperarry unarsopMe. 3aro ce Kao rrpeAMer HafrHorIacrpa)rtl'IBarua uzgnaja fIoloHcKI{ Mexaul{3aIra o6prne nnar:$opue xr,rApayn[qxrax 6arepa c rlrlJbeM pa:noja

,IIpu pasnojy uero4onorraje, najnpe he ce, r<opr.rrrherreM orrrrrre teopnje cracreMa rr Merora HayKe o,

'xoncrpyracarry le(punvcarrr orrmrll flocryflaK cr.rHTe3e rroroncKor MexaHrBMa o6prne nnar@oprrre ca cne4ehr.rueraraMa pasnoja: a) us6op rconqeuqraje rroroHa nopuruherrena uopSoJrorrrKe a:ua.;rzlr;e; 6) za6op Berr.rqr.rHe,arcuja,rnor nexaja Ha ocuoBy crreKTpa onrepeherra u n) 4esranucarre rpanc$opMarlrroHr{x }r npeHocHr.rx'rapaMerapa axryaropa (xz4pouotopa) r4 rrnaHerapHor rrpeHocuura (pe4yxropa) rroroua.,36o1 6pojHocrll pa3nvrrurt4x ron$urypa\LrJa Kr.rueMarr4rrKr{x nanaua r4cror MoAena 6arepa 6uhe pa^:nujeruiounrru ALIHaMI4tIKT,I MareMarurIKI,I MoAeJrrr 6arepa ca gylutcKrrM LI yroBapuuM MaHurryJraropoM 3a [eraJbH],',alalil43y ourepeherra arclEjannor neNaja rroroua o6prne nnar$opue, ,yr"prr*oM crlMynarlujonr 6arepa,3aIaBaIbeM pa3nkrr{r4Tkrx rlapaMerapa MaHr.rnynaquoHt4x 3a4arana. Pesynraru aHirnr{3e rpe6a Aa noKaxy rrp]r,xojoj napujauru KperHor MexaHI{3Ma, xon(furypauv{jv MaHr4[ynaropa ]r Bpcrr.r aJruta) Kao rzr, npm

-rojoj,

,ouepauraju MaHrrynaul{oHor 3aAarKa ra y rojoj o6nacrra paAHor no4pjyuja ce janrajy ourepeherru ,.po4urru.:a z:6op axcrzja-nuor rcxqa. ButuI;aqvqa MepoAaBur.rx o[Tepeherra .neNeja 6rzhe usnp[rena na ocnony,:M€poHI{x BeJIIrqI4Ha cra}la Susravnor MoAena 6arepa rrpu pa.Ay y eKclnoararlrronr{M ycnoBr.rMa. llperr,la,MepoAaBHI{tu ourepeherbl{Ma 6r.rhe 4e$zHLIcaH MareMarr.rrrrr4 Mo.4eJr sa o4pefr,rBarbe crreK Tapa orrrepeherra,'arczjannor nexaja floroua o6prHe urar$oplae 3a ueno paAHo uo4pyrje 6arepa Kao HoBr.L cneo6yxnarnu,uorasareJ6 onrepeherra texqa. Cnexrprz onrepehema, o4pelerud 3a cBaKy xon(fr.rrypaqrajy uanunynaropa, y.uopeferry ca Ao3BoJbeHI4M Kaparrepvcrl{KaMa Hocr{Bocrr.r pacronoxrrBrlx neNajeea ouoryhyjy zs6op,lseruqfiHe nexaja 3a flocMarpaur{ MoAen 6arepa.

.Y oI<nupy flocryflKa cLIHTe3e, 6vhe 4e(fuHrrcaH MareMarr4qKr{ MoAen u pasnzjen [porpaM 3a reHepracarbeuoryhrax rapujaHruux pemema rpanc(popuarlrroHor lr [penocHor Aena [oroHcKor Mexarrrr3Ma o6pr:ue:nnar$opue, zs cKyrla (larorera) pacronoxrBrrx BeJrlrqlr*a aKTyaropa (xrzaponaoropa) ra flnaHerapHrrx:rIpoHocHI{Ka (pe4yxropa). 3a oIIeHy uoryhux napvjauurrax pemema rrorona zanpruuhe ce ilcrpaxr{Barba Be3aHa3a oAHoc BeJII4.II4Ha rpanc(popuaul4oHlax LI flpeHocHr.rx [apaMerapa y rrorneAy Ar.rHaMraqKr.rx KapaKrep[crrlxanoroHa o6prne nnar(fopue v ALrnatrrv-r'xe cra6u.truocrrz 6arepa. IIpu rrcrpaxr{Barrraua pa:nuhe ce MareMarr4qKr.rMoAen 6arepa roju y:uua y o6zup eJracrrrrrHocr rroroHcKor MexaHr.r3Ma rrJrar(popue xoja nacraje ycneAcrLIIrIJbI4BocI4 xlrApocrarlrqKor yJba y pa4noj 3arrpeMprHr4 rr BoroBr{Ma aKTyaropa (xu4porraoropa) noroHa.Pesyntaru I{crpaxl,IBarra tpe6a la floKaxy 3a xoju oAuoc BeJrrrqr.rHa rrapaMerapa (la rLr 3a Marlerpauc(fopiraauaoHe a nehe rpenocHe rapaMerpe rznz o6pnyro) uoroucrrr MexaHr.r3aru nnar$opMe r.rMa naj6oreAr,rHaM[rrKe KapaKTeplrcTr.rKe.

Ha ocuony p*ynrara crrpoBe.qeHr.rx rrcrpaxvrBarLa,6uhe 4e(fraHr,rcaHa o[rIITa MeroAoJlorraja cr.rHreae rroroHcKorMexaH[3Ma o6pne unar$oprrae xurpayn[qrux 6arepa cB]rx BeJrr{q}IHa. ,{o6njenu pe3ynrarl,I rlcrpaxcplBalba

naohra he la ce Koprzcre urrpt4 cr.rHTe3r{ rroroHa o6purux nnar$oprran rI.upyrux lro6umrrax MaIxI,IHa.

2. l]uttHafruor ncrpiDKLIBaFbo j,],, , ,

,Ocnosuu qr{Jb Haywror rrcrpaxuBaruaje 4e(prauucame olrrrre MeroAonorzje sa cI{HTe3y rloroHcKor MexaHLI3Ma

'o6pne ular(fopue x[Apayfiuqrux 6arepa cBIax BeJrr{rrr{na, xojrE qltHe cneAehla napuujanHl,I qI{JbeBLI:

:1. Ae$rrucarbe [ocryrrKa cr.rHTe3e r{ KoHrlerqr{e noroncKor Mexauzslvra o6pnre unar(lopMe Ha ocHoBy HayKe: o roucrpyrcarry u uopSonolrrKe aHanll3e;

,2. fiesuuucarbe A[HaM[r1rKr{x MareMarrrrrKr.rx MoAena xuApaynutlnrax 6arepa ca yyitHcKI,IM I{ yroBapHI,IM, uauuuynaropoM sa o4pelunarre onrepeherra arcraja-nnor reNaja rrotoHcKor MexaHI{3Ma o6prne

nna:r(popue;

,3. ,{eszrucarre MareMarr{qKor MoAena 6arepa 3a aHanr.r3y ourepeherra arcujannor lexaja }I [apaMerapa

: [oroucKor Mexauxalra o6prne unar$opnae 6arepa Ha ocuoBy MepeH]Ix BeJII{qLIHa cralba Szar.luror MoAena

6arepa [p]r paAy y eKcrrnoararl[onr.rM ycnoBlrMa ca gy6uncrl4M MaHl4rlynaropoM;,4. fle$uru{carbe MareMarr{rrKr{x MoAena sa o4pelr4Barbe crrexTapa onrepeherra axcujaluor lexaja [otoHa, o6prne nrar$opue Ha ocHoBy MepoAaBHrx onr:epeherra o4pefeHl{x y qenoM paAHoM roApy'Ijy 6arepa;

5. fieQnuurca:be MareMarurrKor Mo,qeJra 3a reHepr.rcarbe lroryhux napnjantnrx pemelba xl{Apocrarllrlxor LI

i Mexaur.rqKor Aera [oroHcKor MexaHLI3Ma o6prne unar(popnre;i6. Ana:lueaytwlaja [poMeue oAHoca rpauc$opnrarlr{ogllx I{ rlpeHocHlrx [apaMerapa rroroHcKor MexaHLI3Ma

, o6prue nnar(fopue Ha 4vrnaNrvrilKe KapaKTepLIcrLIKe [oroHa;,7. fiesuyr4carbe MareMarrrr{Kor MoAena Iarepa 3a auurkrsy yruqaja eJlacrl{rrHocrl,I notoHcKor MexaHLBMa

o6prne nnar(foprvre, Hacriure ycJreA crr.rrrrJbrrBocrr.r xr,rApaynl{tlKor yJBa y pa.Auoj 3arIpeMI,IHI{ 14 BoAoBLIMa

, aKTyaropa (xra4ponrotopa) rloroua, Ha AuHaMI{.rry cra6unnocr 6arepa;18. Pasnoj rporpaMa sa o4pelzBarse: AlruaMrrrrKrrx ou:repehema arcuja-nnor nexaja; cneKTapa outepeherra: arcuja-nnor neNaja; rpanc(poprvrauvoHr.rx il [peHocHLrx napaMerapa rroroHcKot MexaHI,BMa o6prne

nnarQopue;.9. Pasnoj rporpaMa 3a arranLlt:y onrepeherra axcujaruror nexaja rroroHcKor MexaHrI3Ma o6prne unat(fopue na

, ocuoBy MepeHrrx Berrrarrr4ua crarla (lusrauror Mo4ena 6atepa, npu paAy y eKcrInoaraIIrIoHI,IM ycnoBl4Ma ca

', lylu:ocxr{MMarlulyJlaropoM.:

3.oqexHs,,,p..y,'aTI,IHa)^{HollIcTpax}IBuia..,..,.

llocryuar cr4HTe3e rroroucKor MexaH[3Ma o6prne rnar$opue xaApaylltqrrzx 6arepa 3acHoBaH Ha HayIIu oi

KOHCTpyr4CaIby; ,

Crpyxrypa (pynxuuja z naop(fonorrrKa Marpr{rla :a ua6op ronqenqnje roroHcKor MexaHl{srrla o6prne:

nnar(popue [peMa BeJIVTITIHII xrlApayn]IrlKux6arepa; .

Onrurra MareMarr{rrKr{ MoAeJr}r 6arepa ca yroBapHuxt u yyinHcKr,IM Mau}IlynaropoM 3a AI,IHIIMIIIKy aHilnrl3y]

onrepeherra arcnjannor leNaja rroroHa o6prne nrar(popue, cl{Mynallujou naanrarynaqroHor 3aIarxa]

6arepa;Kouuonenre onrepeherra axczja-nnor leNaja o6pne nnarlpoplnre Ha ocHoBy MepeHltx BeJIIrqIdHa crar+,apa!.a

Qrasuuxor MoAena 6arepa y eKcrrnoaraulroHr{M ycnoBr{Ma rrpIl pa3nI{q}ITLIM Marr[[yJIaupIoHI{M 3a,(aIIuMa;

Cuexrpu ourepeherra za us6op BenruuHe nexaja rroroHcKor MexaHLI3Ma o6prne nnarlpoplue 6arepa

o4pefenu Ha ocHoBy Mepo4aBHr{x ourepeherba 3a cne napxjaH:re xon(praryparynja KIIHeMaTLI.IKI{x naHaIIa

4y6nncxux r{ yroBapHllx MaHLllynaropa 6arepa;

fluuauu.uce KaparTepr{crr.rKe rroroHcKor MexaHr.r3Ma o6prne unar(foprrae o4pelene 3a pa3nI{tILITe oAHoce

BeJrr4rrr.rHa rpanc$oprraarlr{oHr.rx r{ [peHocHr.rx napaMerapa [oroHcror MexaHwsua o6prne unar$opue;Mareuarurrxlr MoAen 3a a*auil43y ytwpja eJracrrlrrgocrll rroroHcKor MexaHrasua o6p:rue unar$opIrae,

HacraJre ycneA crrrrrrJbrrBocrr{ xrrApayn[qKor yrbay pa4noj 3arIpeMuHI,I I{ BoAoBI{Ma xl{ApoMoropa floroHa,

Ha AlrHaMrruxy cra6zlnocr 6arepa;flporpanu sa o4peluname: Ar.rHzlMr{trKr.rx onrepeherra axctjattuor nexaja; crleKTapa outepehema arcujaluornexaja; rpaHc$oprr,raur{oHr.rx r{ rrpeHocHr.rx napaMerapa noroHcKor MexaHrasua o6prne u:rar(fopue;flporpa:rrra 3a alanilsy ourepeherra axcujaJrHor neNaja rloroHcKor MexaHlI3Ma o6prHe unar(fopue ua

ocuoBy MepeHr{x BeJrr{rrr.rHa crarba Suerzuror Mo.qena 6arepa, ca ay6wucKLIM MaHl4rlynaropoM, rtpv paly yeKcrrnoaTarIHoHlrM ycnoBIIMa.

1.

2.

a

4.

5.

6_

7.

8.

9.

4, flpurvrerreHe HafrHe Mero.4e :, i , ' ,

:

:1. flpurvreua orrrure reopuje crrcreMa sa $yuxquouiurHy, crpyKTypHy pI [apaMerapcKy ataaurul.sy xl{Apaynurml{x ]

: 6arepa; :

2 flpuuena MeroAa HayKe o KoHcrpylrcarby 3a Ae$[Hr,rcarbe [ocrylKa cuHTe3e rloroHcKor MexaHIr3Ma

, o6prnuennar(popMexr4ApayJII{qHI4x 6arepa;3. Moplponomra aHurJrrr3a za us6op KoHrlenquje uoroncKor MexaHvsua o6prne ruarsopMe 3aBI4cHo oA

:cTpyKT1pe(|yrrrqujauarrrauyJIaII}IoHol3aAaTKaI,IBenuquHe6arepa;4. flpnueua MeroAa MareMarr.rqKor Morenvpae;a Kr{HeMarr{rrKux naHarla xI,IApaylrFIHLIx 6arepa Ha ocHoBy

5. MqroAa orrrtrTr.rx reopeMa Mexanr.rKe (Newton-Euler-oee ALIHaMI{qKe je4uauune) sa pasnoj ALIHaMLITIKLIX

ntateuaturrKr,rx MoAena KIaHeMarI,IqKI{x naHaIIa 6arepa;6. Hylaepr.lure MeroAe 3a cr4Mynaqujy pa4a 6arepa, pa3nI{qI{T}Ix xonlpuryparyuja KIaHeMarI{tIKIrx JIaHaIIa,

I upelra3aAarr4M rrapzlMerpl{MaMaHlIlynarlrloHor3aAarKa;7. Ocnosr aHirnkrrr{rrKe MexaHr.rKe (Lagrange-one je4navr,rHe Apyre npcte) sa alanvsy yrwpja enactu'tHocru:

rroroHcxor Mexaulr3Ma o6prne unar$opue Ha Ar{HilMI,Iur<y cra6ramrour 6arepa;al

5. Cuucax xopuurheue nl{Teparype , j; -'j i::i+.!trtr*r

itt] p. Gdncz, M. Drobne, S. Glodez: Computational modetfor determination of dynamic load capacity of large three-row roller,slewingbearings,EngineeringFailureAna1ysis2013,Vol.32,pp.44-53.

t2) J. Aguirrebeitia, M. Abasolo, R. Avilds, I. Fern6ndez de Bustos: Theoretical cqlculation of general static load-carrying capacity

. for the designand selection of three row roller sla,ting bearings, Mechanism and Machine Theory, 2012.,YoL.48,pp.52-61. 1

it3] S. GlodeZ, R. Potodnik, J. Fla5ker: Computational modelfor calculation of static capacity and lifttime of large slauing bearing's:' rqceway, Mechanism and Machine Theory, 20I2.,Yo1. 47, pp.l6-30.

;t4] J.I. Amasorrain, ,X. Sagartzant J.Dami6n: Load distribution in a four contact-point slauing bearing. Mechanism and MachineTheory, 2003., Vol. 38, pp.479496.

.t5] Y. Bln,Z. Jiao, K. Douglas, L John : High Performance Swing Velocity Tracking Control Of Hydraulic Excavators, AmericanC ontr ol C onfer enc e, P hil adelphi a, pp. 8 I 8 - 8 2 2, I 9 9 8.

,t6] S.Salini6, G.Bo5kovi6, M.Nikoli6: Dynamic modelling of hydraulic excovator motion using Kane's equations, Automation in,

t,ll) S.Salinii, G.Bo5kovii, M.Nikoli6: Contribution of the determination of the load on suspension ring of the underframe of the',. lrydraulic excavator,IMK-l4 - Research & Developement in Heavy Machinery 2014,Yo1.20, No.4, pp.l29-133.

,[8] K. Jin, T. Park, H, Lee: A control method to suppress the swing vibration of a hybrid excavator using sliding mode approach,:

, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, YoL.226,2011.,'

,1e1 S. Yoo, C-G. Park, S-H. You, B Lim: A dynamics-based optimal trajectory generationfor controlling an automated excavator,:,

Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, Yot.224,2013.,1pp.2r09-2119.

l[10]B. P. Patel, J. M. Prajapati: A review on kinematics of ltydraulic excavator's backhoe attachment, International Journal ofEngineering Science and Technology (IJEST),2011., International Journal of Engineering Science and Technology (IJEST),

Vo1.3, No.3, pp.l990-1997.

r[11] R.N.Jazar: TheoryofAppliedRobotics,20l0.,SecondEdition, ISBN978-1-4419-1749-2,DOI 10.10071978-l-4419-1750-8Springer New York Dordrecht Heidelberg London.

,1f 21 n. Featherstone: Rigid Body Dynamics Algorithms,IsBN 978-0-387-74314-1,2008 Springer Science and Business Media. .

t13] C.G. Park, K. H. Li m: A Simulation Environment for Excavator Dynamics, MSC.Software Virtual Product Development:

Conference 2004,http:llweb.mscsoftware.com./events lvpfu004lna/proceedings/vpd2004_tue.htrnl. i

l[4] Y. B. Kim, J. Ha, H. Kang, P. Young Kim, J. Park, F.C. Park'. Dynamically optimal trajectories for earthmoving excavators,'

AutomationinConstruction,2003,Vol.35,pp.568-578.

,[5] V.Panov,R.Mitrev: Theoretic-experimentalapproachtocomputationofdiggingforce,Recent,200S.,Vol.9,No2,pp.59-66. .

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veri&cation of a rnathematical model, lnternational Journal of Mechanical Sciences, 2004., Vol. 46, pp. 729-:7 50. l.1tz1c.Kunze,H.G0hring,K.Jacob:Baumacshinen,Yieweg,2002.

tl8] M.Byrco6paronuh:IfputweneuaduHaMurcauauunyflaquoHuxpo6oma,Texnnqxar<ujura,Beorpa4,ISBN86-325-0053-8. i

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Maruuncru Qaryrrer Yurmepsrarera y Hraury. .,l2}l [,. Janorueurah, Ilpojercmoean e uo1unutu uanuuHq Yurmep:nre'r y Humy, Marurzncru Qaryn:rer, Hrru, 2006. i

i[21] H. H. Mabie, F.W. Ocvirk: Mehanizam i dinamika ma5ina, prevela dr Kosara Joji6, Vuk KaradLil, 1973., Beograd.

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2001. Preglad mechaniczny,9/2011, Instytut mechanizaciji Budownictwa i G6rnictwa Skalnego pp.39-45.

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(fi6.=0.0 peuaj,

Ha cpncrou jesraxy:

Heonxo4ny rpocropHy naanuuynaqujy xr,rApayn[qKr,rx 6arepa, cBlrx BeJtLrrtuIHa) oMoryhyje roroHcKr.I

Mexanlr3aM o6prne rnar(bopMe 6arepa. Cmrresa floroHa o6prne rnartbopMe je npro KoMrJIeKcaH rlpo6rleM

s6or 6pojuocru pa3Jrr{qrrrr.rx MaHr.rlynarlr{oHr,x 3a,{araKa Koje r4cr[ MoAen 6arepa o6anma ca pa3rI[q[TI,IM

Bapr4j aHTaMa ocnoHo-KperHor MexaHlI3Ma, MaHLI[yJIaropa ra urar a.

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The slewing platform drive mechanism allows the necessary spatial manipulation of hydraulic excavators of allsizes. The synthesis of the slewing platform drive is a very complex problem due to the number of differentmanipulation tasks that the same excavator model performs with different variants of the support and movementmechanism, manipulators and tools. The problem of the synthesis of the slewing platform drive mechanism willbe studied on the basis of the developed mathematical models of excavators and the measured state quantities

of an excavator working under exploitation conditions, with the aim of defining a general methodology for the

synthesis of the slewing platform drive mechanism of hydraulic excavators of all sizes in terms of the selection

of the drive concept, the determination of the size of the slewing bearing, and the definition of the

transformation and transmission parameters of the actuators and planetary gear drive.

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$vryvrc Philip Morris Intemational, 200512006. ro,utr{e.

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