Перегляд за Автор "Kryvoplias-Volodina, Liudmyla"

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Architecture of hybrid mechatronic dosing and packing module of packaging machine based on qualitative analysis
(2023) Gavva, Oleksandr M.; Kryvoplias-Volodina, Liudmyla; Marynin, Andriy; Tokarchuk, Serhii; Blazhenko, Serhii; Volodin, Oleksandr
A qualitative analysis of the process of packaging liquid products (non-carbonated drinking water) using the example of a hybrid mechatronic dosing and packaging module was performed. The computer model of the mechatronic module is described by the basic operators of the Simulink program, taking into account the differential equations for changing the technological parameters of liquid dosing and the accepted initial and boundary conditions of the process. The modes of operation of the hybrid mechatronic dosing and packaging module are programmed using the driver. The boundary conditions of the process of formation and extrusion of the dose of the product are taken into account. The control system of the module is arranged on the principle of feedback and a sharp change in pressure in the portion receiver (from excess, within 3 bars to rarefaction up to –850 mbar). The analysis of individual stages of the dosing process is described, followed by the elaboration of accepted assumptions. During the tests of the computer model of the hybrid mechatronic dosing and packaging module, the accuracy of repetitions of dose formation was determined within ±0.22 % and 0.9 % of the set value of the dose mass of 50…200 ml. An experimental bench was designed, which could provide an opportunity to check the results obtained from the computer model. The research results would allow using digital control and measuring equipment to check the accuracy of dosing of the product from 50 ml to 200 ml. In the course of computer simulation, the effects of the given parameters of the dosing process on the accuracy of the product dose formation were determined, as well as the laws of the necessary distribution of compressed air pressure were formed to maintain the given productivity. The research results could make it possible to improve the designs of liquid product dosing modules and to determine the input parameters for field studies.
Development of mechatronic modules for packaging machines on the basis of synergetic integration elements
(2017) Kryvoplias-Volodina, Liudmyla; Gavva, Oleksandr M.; Hnativ, Taras
A number of local automation tasks in the technological lines of packaging products, the creation of personal packaging, group, attach cardboard strips between layers, installation of more valves or dispensers for packaging, etc. – requires intelligent, productive and adaptive systems move with the functions of robotics. The development of soft robots and new materials to drive is an important way in the development of robotics. In this, work a new design of the Tripod based on the theory of soft robots. This ensures efficient use of resources and materials in the production of food, including operations of packing. Research methods this tripod is based on the theory of plates and shells, the main section of solid mechanics. Possibility of use in the design of the drive control and measuring devices, feedback - allows you to support the values of the specified technological parameters. The analysis and design of process system tripod based on separate functional modules. The authors created and experimentally investigated the model of the parallel mechanism - tripod with drive on bellows pneumatic cylinders. The Tripod control system is based on a new type of programmable relays and closed-loop pressure regulators in the range of 0..10V. To ensure the laws of motion of the base platform, the design decided to use bellows pneumatic cylinders in conjunction with ejectors. The solution described in the work controls the drive with the help of alternating pressure, reduces the disadvantages of the operation of systems with pneumatic cusps, in particular the need for antagonistic kinematic pairs with tension springs. Ряд завдань локальної автоматизації в технологічних лініях пакування продукції, створення персональної упаковки, групування, вкладання картонних смуг між шарами, встановлення більшої кількості клапанів або дозаторів дляпакування тощо. - вимагає інтелектуальних, продуктивних і адаптивних систем, що рухаються з функціями робототехніки. Розробка м'яких роботів та нових матеріалів пакування тощо. - вимагає інтелектуальних, продуктивних і адаптивних систем, що рухаються з функціями робототехніки. Розробка м'яких роботів та нових матеріалів Розробка м'яких роботів і нових матеріалів для приводу є важливим напрямком у розвитку робототехніки. У цьому напрямку працюють розроблено нову конструкцію триноги на основі теорії м'яких роботів. Це забезпечує ефективне використання ресурсів і матеріалів у виробництві продуктів харчування, включаючи операції пакування. Методи дослідження цього штатива базуються на теорії пластин і оболонок пластин і оболонок, основного розділу механіки твердого тіла. Можливість використання в конструкції приводу контрольно-вимірювальних пристроїв, зворотного зв'язку - дозволяє підтримувати значення заданих технологічних параметрів. Проведено аналіз та проектування технологічної системи штатива на основі окремих функціональних модулів. Авторами створено та експериментально досліджено макет паралельного механізму - триноги з приводом на сильфонних пневмоциліндрах.Система керування триногою побудована на основі нового типу програмованих реле та замкнутих регуляторів тиску в діапазоні 0...10В. Для забезпечення законів Для забезпечення законів руху базової платформи в конструкції вирішено використовувати сильфонні пневмоциліндри в поєднанні з ежекторами. Описане в роботі рішення керує приводом за допомогою змінного тиску, зменшує недоліки роботи систем з пневматичними кулісами, зокрема необхідність застосування антагоністичних кінематичних пар з пружинами натягу.
Dynamics of mechatronic function modules drives of flow technological lines in food production
(2018) Kryvoplias-Volodina, Liudmyla; Gavva, Oleksandr M.; Volodin, Sergiy; Hnativ, Taras
The tasks were considered, which are related to the working bodies for the artificial food products movement according to the specified movement law and their positioning in the intermediate positions of the kinematic cycle.Materials and methods. The actuators dynamics characteristics and control system of power part of positional electro-pneumatic actuators were researched. The methods of mathematical and computer modeling, and methods of solving ordinary differential equations and partial differential equations and method of correlation analysis were used. Results and discussion. The analytical dependences for determining the kinematic parameters of the artificial product movement with the mechanism of collision, which is based on the pneumatic actuator, are obtained. The dynamical model of the actuator is mathematically tested and the movement law of the collision mechanism, which is approximated to the optimal speed, is obtained. To analyze the loading process of the working link of the positional actuator, the model of a generalized control system is used, which is limited by the one full cycle of operation of the functional mechatronic module of the packing machine. Such a model allows to describe the overload process, both in the case of full and partial filling of the working cycle. This is important when packing products in different geometric shapes of consumer packaging, which is typical of modern packaging machines. The simulation model of the actuator is theoretically substantiated and confirmed, which has a number of advantages, unlike the existing structures of positional drives in packaging machines. Сalculated difference, during mathematical modeling, of the value of the working time of the output stage of the functional mechatronic module for the processing of the kinematic cycle of the operation of the packaging machine was for the various input parameters of the limit to 7%. The results of the mathematical modeling of dynamics for a positional pneumatic actuator, with the condition of changing the cross section of the exhaust hole, gave the opportunity to obtain the kinematic characteristics of the drive. Conclusions. The results of mathematical modeling for positional pneumatic actuators with the condition of changing the section of the exhaust hole allowed to track all the kinematic characteristics of the actuator.
Features of simulation of the technical parameters of the packaging line for single food products
(2019) Derenivska, Anastasiia; Kryvoplias-Volodina, Liudmyla; Tokarchuk, Serhii
The modern development of scientific and technological process is based on new directions in the creation and design of technical equipment and technical systems. In this article considers research results of packaging line work, as technical system, for single food products which includes different technical equipment. Creating a new product packaging line is involved the need for analysis, systematization of many parameters of constituent mechanisms, devices, modules, packaging equipment, transport systems and choose of optimal ones. The main parameters for the selection of equipment are technological; technical; conditions of compatibility of mechanisms, devices, modules; overall dimensions and weight, electric energy consumption indicators; economic indicators; efficiency of capital costs for its purchase, place and put into operation; payback period of the packaging machine or line. To organize a multi-stage packaging process is necessary to solve the following problems: to distribute the flow of products between the same modules to increase line productivity, to determine the required amount of modules, to determine the operating modes and required productivity of all packing line modules, to create a single orderly lined product stream from many ones in the final stages of packaging, to ensure uniformity of output product based on a uniform calculated clock cycles. Research of the products moving at the stages and levels of packaging, analysis of the intensity of products moving in transport systems and modules give the opportunity to visual observe of the products moving; to find an optimal load and number of the same type of modules; to distribute the products flow between them; to find rational kinematic parameters for work of transport systems and modules; to provide product moving incessant during changing product moving direction and distributing streams during forming a one stream from several; to ensure a uniform release of products based on the same calculated clock cycles of line packaging.
Fundamentals of selection process of the equipment for food production packaging lines
(2016) Kryvoplias-Volodina, Liudmyla; Gavva, Oleksandr M.; Derenivska, Anastasiia
The priority tasks of scientific and technical nature, the solution of which creates the conditions for improving the operation of packing equipment, include the introduction of modern hardware, software, methods and algorithms for parametric control and diagnostics of the equipment, as well as the implementation of tools and methods for the control of technological parameters in real time operation. OEE criterion (Overall Equipment Effectiveness) allows detecting losses and reasons for inefficiency. As a result, both breakdown stoppages and losses due to inefficient operation of the equipment, slow performance or pending delivery are identified. Therefore, OEE enables to evaluate the effect of current performance of a particular piece of equipment on the efficiency of the whole production. The resulting values of the parameters of operation reliability are compared with the corresponding values of previous periods. This approach provides means for assessing the equipment reliability.
I I O T: a tool to increase productivity and reduce costs in the packaging industry
(2024) Kryvoplias-Volodina, Liudmyla; Gavva, Oleksandr M.; Savchuk, Oleksandr
The study focuses on the use of the Industrial Internet of Things (IIoT) concept to optimize the operation of packaging machines. The study examines the potential of IIoT to collect, process, and analyze data on the operation of individual components of packaging machines, such as solenoid valves. Using sensors and electronic systems, data on temperature, vibration, pressure, and other valve parameters can be obtained. Analyzing this data allows us to assess the health of the valves, identify potential problems, and optimize their performance. The results of the study show that the use of IIoT can significantly improve the efficiency and reliability of packaging machines, as well as reduce maintenance and repair costs.
Implementation of AR technologies in robotics on the example of a dosing robot manipulator
(2024) Yasychev, Vladyslav; Yemelianov, Dmytro; Zaporozhets, Oleksandr; Kryvoplias-Volodina, Liudmyla
The development of complex automated packaging systems, mechatronic assemblies, working bodies and parts for the AR library of augmented reality is an urgent task for finding new technical solutions
Integration of technology in the mechatron module of liquid dosing
(2023) Yasychev, Vladyslav; Butyk, Taras; Kryvoplias-Volodina, Liudmyla
The influence of individual parameters on the accuracy of productdose formation was determined during physical and mathematical modeling. We have found ways to ensure the necessary distribution of compressed air pressure, subject to compliance with the specified performance of the dispenser. Research results make it possible to improve the operation of dosing systems for liquid products with high dosing accuracy. The control system is formed on the basis of electro-pneumatic complexes. The control model with dosing operating modes is substantiated. It was established that the consumption of compressed air will depend on the value of the input main pressure P (0.05... 0.4 MPa). The consumption of the product was in the range of 1 ml to 50 ml with a feeder volume of 2.25 l. A mathematical model of the dosing process of liquid products (noncarbonated drinking water, milk, juice) has been developed. Boundary conditions took into account the influence on the formation of the product dose from the programmed current values in mA (with an accuracy of 0.001 mA) in relation to the standard scale Imin, Imax=4..20 mA. An analytical description of individual stages of the dosing process with further analysis of individual stages and accepted assumptions was formed. Tests of the experimental sample of the dispenser showed the accuracy of the repetitions of the dose extrusion (limits ± 0.035% and 0.8%) from the set value of the dose mass up to 50 ml during the change and the initial liquid level in the reservoir of the dispenser feeder.
Methodology of criterion analysis and synthesis of dosing and packaging modules for bulk production
(2023) Gavva, Oleksandr M.; Kryvoplias-Volodina, Liudmyla; Lukianets, Halyna
Methodology of synthesis of packing machines for food products based on multicriterial analysis
(2020) Kryvoplias-Volodina, Liudmyla; Gavva, Oleksandr M.; Derenivska, Anastasiia; Volodin, Oleksandr
The complex of technical means for optimization synthesis of assembling of a packing machine of separate functional modules has been developed. The method of synthesis of a packing machine, based on criterial assessment of separate functional modules (FM), combined by two main assessment groups, has been offered. FM may be selected and calculated by the program of consumption, based on the overall equipment effectiveness (OEE) criterion. An example of synthesis, based on the offered method, takes into account variants of choice of ready functional modules, based on the hierarchic structure of a module of roll packing material supply. The method takes into account the systemic approach to analysis of equipment constructions for packing fine-piece and piece food products in a consumption package. The synthesis of FM assembling as conceptual models, abstract ones, reflecting the construction structure and connections between separate elements – functional devices (FD) – has been offered. Розроблено комплекс технічних засобів оптимізації синтезу компонування пакувальної машини з окремих функціональних модулів. Запропоновано метод синтезу пакувальної машини на основі критеріальної оцінки окремих функціональних модулів (ФМ), об'єднаних двома основними групами оцінювання. ФМ може бути обраний і розрахований відповідно до загального критерію ефективності обладнання (ОЕЕ). Приклад синтезу, заснований на запропонованому методі, враховує варіанти вибору готових функціональних модулів, виходячи з ієрархічної структури модуля подачі рулонного пакувального матеріалу. Метод враховує системний підхід до аналізу конструкцій обладнання для упаковки сипких і штучних харчових продуктів в споживчу упаковку. Запропоновано синтез ФМ-збірки як концептуальних моделей, абстрактних, що відображають структуру конструкції та зв'язки між окремими елементами - функціональними пристроями (ФП).
Methods of correcting errors during the operation of the drive of valves
(2016) Volodin, Sergiy; Mironchuk, Valeriy; Kryvoplias-Volodina, Liudmyla
To ensure reliable operation of the valves it is necessary to lay the conditions for management at the stage of selecting and designing. Control system electric pneumatic (EPC) ensure smooth and reliable operation of mechanisms in many areas of technology today. Functional capabilities of modern EPP are determined by the characteristics of the applied management systems in many ways, as well as the parameters of the power part.
Metodological aspects of the mathematical theory of fricthion it is applicable to bearing surfaces of overload devices
(2013) Gavva, Oleksandr M.; Kryvoplias-Volodina, Liudmyla
In streaming lines of cargo product containers provided by the application of various design schemes for handling devices. During the execution of operations, for the most part overload loads change the orientation with respect to the original direction of motion. Change the orientation of load on bearing planes carried in difficult cargo plane motion of one or more load-bearing planes simultaneously. To determine the rational parameters of handling devices is to apply mathematical modeling of the movement of cargo. Feature of this simulation is the use of mathematical theory of friction product containers of goods on the surface. As an example of methodology of mathematical simulation of containers of a product operations of processing of a load, results of operations that intends for cargo package in system of four pipelines are considered. У потокових лініях обробки вантажів у контейнерах передбачено застосування різних конструктивних схем для перевантажувальних пристроїв. Під час виконання операцій здебільшого перевантажувальні вантажі змінюють орієнтацію відносно по відношенню до початкового напрямку руху. Зміна орієнтації вантажу на несучих площинах, що переміщується в складній вантажній площині рух однієї або декількох несучих площин одночасно. Для визначення раціональних параметрів навантажувально-розвантажувальних пристроїв необхідно застосувати математичне моделювання руху вантажу. Особливістю такого моделювання є використання математичної теорії тертя продукту тертя тари з вантажем по поверхні. В якості прикладу методики математичного моделювання тертя тари з продуктом розглядаються операції переробки вантажу, результати операцій, що призначені для пакування вантажу в системі з чотирьох трубопроводів.
Modeling of melting process in a single screw extruder for polymer processing
(2018) Mikulonok, Ihor; Gavva, Oleksandr M.; Kryvoplias-Volodina, Liudmyla
A mathematical model for the melting of a single-screw extruder is developed. The model takes into account the heat transfer of the polymer with a worm and a cylinder, as well as real boundary conditions (the worm rotates, the cylinder is stationary). The parameters of the melting zone are investigated and the results of the calculation are compared with the experiment. An approach to modeling the extruder as a whole as a sequence of interconnected functional zones.
Modeling of pneumonozzle system work
(2019) Rivna, Katerina; Gavva, Oleksandr M.; Kryvoplias-Volodina, Liudmyla
The purpose of the study is to develop a formalized approach to the simulation of kinematic and dynamic analysis of a pneumatic blower unit of the ejection type in the environment of PP FluidSim with CFD modeling.
Modeling packaging machine systems on the basis of proportional pressure regulator
(2016) Kryvoplias-Volodina, Liudmyla
The vertical multithreading packaging machines that work with two rolls, usually used for packaging melkoportsionnogo granular, liquid, paste and small-piece products in flat chetyrehshovnye packages manufactured from a variety of heat-sealable or heat sealable film materials, as well as filtrobumagi, polyethylene laminated paper and aluminum foil. Thus the opposing surfaces of such packets may be made of different materials. When forming the package is necessary to provide a pressure control system of the tension roll materials. As a control device, consider the use of MX PRO proportional pressure regulator in the automatic control system. The important problem in the operation of automatic control systems (ACS), the gas pressure is required to ensure the dynamic quality and, above all, lack of self-oscillating uncontrolled processes that reduce the service life of systems and precision gas flow measurement
Modeling the process of polymers processing in twin-screw extruders
(2018) Mikulonok, Ihor; Gavva, Oleksandr M.; Kryvoplias-Volodina, Liudmyla
Models for the processing of polymers in co-and counter-rotating twin-screw extruders based on the generalized mathematical model of screw extrusion were developed . A base of the proposed models is the analysis of an allocated C-shaped volume, which is limited by one turn of cutting of each of screws and in which there is a certain volume of a processed polymer. Such model gives possibility to describe the process of processing both in the case of complete and partial filling of an operation channel with processed material. This is especially important in case of dosed feeding of an extruder with a polymer, which is typical for modern processing equipment.In addition, the proposed models take into account real boundary conditions on operation surfaces of rotating screws and a stationary barrel, which gives possibility to choose parameters of thermal stabilization systems of operation elements of an extruder unambiguously.The process of melting of polymer granules in an operation channel of an extruder screw was studied. The results of the study showed that it is necessary to use mixing elements at an increase of deviation of the behavior of processed material from the Newtonian behavior in an operation channel of screws. We established that intensity of energy dissipation at certain points in the volume of a processed polymer determines temperature fields in the volume of processed material. We substantiated that, firstly, an intensive external energy supply to screws and a barrel with their subsequent gradual cooling is necessary during the processing of a polymer on twin-screw extruders in contrast to single-screw extrusion.The adequacy of the developed model was verified by comparison of the results of the numerical modeling with the experimental data in processing of a composition based on high-density polyethylene filled with aluminum hydroxide in a twin-screw extruder Ø83×30 with co-rotation screws. We carried out studies for the industrial production of 50 kg/h and the rotational frequencies of screws of 25 and 40 rpm.The proposed model of twin-screw extrusion gives possibility to determine main parameters of the equipment and the process and to estimate temperature heterogeneity of melt at the design calculation for a given productivity and the required final temperature of polymer melt. The parameters include the geometry of operation elements, frequency of rotation of screws and required minimum drive power. Itis possible to determine rotational frequency of screws and thermal conditions of extruder working elements at verification calculation of an extruder for a given geometry of screws.
Object-oriented design of packaging machines on the principles of mechatronics
(2018) Gavva, Oleksandr M.; Kryvoplias-Volodina, Liudmyla; Kokhan, Olena
В даній роботі наведені результати дослідженнь, які було проведено з метою формування основних принципів об’єктно-орієнтованого проектування пакувальних машин на засадах мехатроніки. Розроблення сучасних мехатронних пакувальних машин потребує розв’язання складних задач в яких враховуються взаємозв’язки між різними складовими, їх реакцію на зовнішні та внутрішні дестабілізуючи фактори. Для розв’язання таких задач запропоновано застосувати методи об’єктно-орієнтованого проектування. Розроблено топологію об’єктно-орієнтованого конструкційно-технологічного проектування пакувальної машини на засадах мехатроніки. На першому етапі проектування проведено аналіз технологічного процесу формування транспортного пакета в подальшому на основі засад SADT сформовано ієрархічна структура машини, побудовані фукціональні та структурні моделі, проведено декомпозицію службової функції машини, розроблена функціонально-структурна схема машини. Функціонально- структурна схема машини ведення параметричного синтезу із вибором найкращих або оптимальних значень геометричних, кінематичних, динамічних та енергетичних параметрів. This paper presents the results of research that was conducted with the aim of forming the main principles of object-oriented design of packaging machines based on mechatronics. The development of modern mechatronic packaging machines requires the solving of complex problems, which take into account the interconnections between different components, their reaction to external and internal destabilizing factors. To solve such problems applying of object-oriented design methods was proposed. The topology of the objectoriented design and technological design of a packaging machine on the basis of mechatronics was developed. In the first stage of the design, the analysis of the technological process of transport package formation was carried out, the basis of the SADT basis was formed the hierarchical structure of the machine, the functional and structural models were developed, the decomposition of the service function of the machine was made, the functional and structural scheme of the machine was developed. Functional-structural scheme of the machine for conducting parametric synthesis with the choice of the best or optimal values of geometric, kinematic, dynamic and energy parameters.
Optimization of transportation of bulk solids food products in the linear weight feeder of packing machine
(2014) Derenivska, Anastasiia; Gavva, Oleksandr M.; Kryvoplias-Volodina, Liudmyla; Kokhan, Olena
In this article considers research results of work linear weight feeder of packing machine subject to "rough” and "exact” dosing modes. For optimization of transportation of bulk solids food products in this weightfeeder was offered to use such assistive devices, as limiting guide. The mathematical analysis and graphical modeling position guide enabled to decide on its type and operation mode. У цій статті розглядаються результати дослідження роботи лінійного вагового живильника пакувальної машини за умови "грубого" і "точного" режимів дозування. Для оптимізації транспортування сипких продуктів харчування в цьому ваговому живильнику запропонували використовувати такий допоміжний засіб, як обмежене регулювання. Математичний аналіз і графічне моделювання дозволило прийняти рішення про його тип та режим роботи.
Practical aspects modeling of air conveying modes for small–piece food products
(2020) Kryvoplias-Volodina, Liudmyla; Gavva, Oleksandr M.; Yakymchuk, Nikolai; Derenivska, Anastasiia; Hnativ, Taras; Valiulin, Hennadii
A mathematical and physical model of the critical pneumatic conveying modes has been developed to ensure the calculation and construction of pneumatic product pipelines of continuous operation. The model takes into consideration the technological conditions of gas suspension movement; the laws of movement of individual fine particles, accounting for their impact interaction and decompression, as well as the actual boundary conditions for a food product movement. The parameters of the zone of dynamic destruction of the layer of a small-piece food product by impact airwave were experimentally studied; the results of the calculation have been compared with the experimental data. The process of managing critical pneumatic conveying modes has been theoretically described, based on the proportional elements and feedback (a current loop of 4‒20 mA); the process of destruction of the cluster of products by airwave and controlled decompression has been studied. The process of pneumatic conveying of a small-piece product at the experimental bench system has been examined. As well as the process of moving the material in the product pipeline, which is controlled by compressed air pulses, to maintain the modes of operation. The following has been established: pressure losses caused by the movement of clean air; additional pressure losses resulting from the movement of the material; the loss of pressure required for transporting in a suspended state on a vertical stretch. A model has been developed to calculate the coordinates of a product particle when it collides with the inner surface of the product pipeline, as well as a change in its kinematic characteristics. The developed model makes it possible to determine the rational modes of pneumatic conveying and possible energy costs in the processing of various small-piece materials. The rational pneumatic conveying regimes have been determined, as well as possible energy costs in the processing of small-piece materials. As the time of supplying compressed air in the product pipeline increases, the number of product particles reaches a maximum in the range of 0.1...0.2 s. The compressed air flow rate, depending on the value of inlet mainline pressure P (0.1…0.3 MPa), is 80…160 (Nl/min). A general approach to the modeling of pneumatic conveying systems has been proposed
Quantification of a mechatronic pneumatic gripping system for a multi-link robot manipulator
(2023) Yemelianov, Dmytro; Shevchenko, Serhii; Kryvoplias-Volodina, Liudmyla
The basis of the work is the tasks related to the synthesis of working bodies for moving artificial food, and the development of a control program for them based on PLC - namely, pneumatic grippers. An urgent task was also to ensure the movement of products processed by a robot manipulator according to the given law of movement. Based on the study of the dynamic characteristics of the drive and the control system of the power part of the position electro-pneumatic drive. Mathematical and computer modeling methods, methods of solving ordinary differential equations and partial differential equations, correlation analysis method are used. Analytical dependencies were obtained for controlling the drive of a robot-manipulator with a pneumatically controlled gripper to determine the kinematic parameters of the product movement during processing. The dynamic model of the pneumatic gripper and its drive was mathematically tested. The law of motion of the final link of the manipulator, close to the optimal speed, was obtained. On the basis of the research calculations and the analysis of the functional mechatronic modules, the energy efficiency of the proposed control scheme of the power part of the positional pneumatic drive was confirmed. The result of the study of the electropneumatic positional drive is presented in the form of an algorithm and a special program for calculating and comparing the kinematic and dynamic parameters of the drive.The technological time of the operation is adjustable and when using the exhaust cross-section of the working chambers of the pneumatic cylinder - 4 mm, the value of the working pressure up to 7 bar, the movement of the rod - up to 200 mm, it has optimal kinematic characteristics of work for a pneumatic gripper. The discrepancy between the value of the time of the working stroke of the output link of the functional mechatronic module calculated during the mathematical modeling after working out the kinematic cycle of the gripper was up to 3% for various input parameters.