Abstract
Presented simulation mathematical model of the mechanism of rotation of the column manipulator with energy-saving hydraulic drive. The model takes into account three mechanical process: the rotational movement of the column arm around a vertical axis load sway relative attachment points on the boom arm and the piston motion of fluid accumulator. To describe the rotation of the column using the basic equation of dynamics of rotational motion. The load represented either as a mass point, when the dimen-sions are small and the proportionality, or a rod if the simulated moving manipulator logs or pipes.
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