Research units of flexible working body motion, cutting branches

Abstract

There are significant tilts of the working body, clamping, hitting an insurmountable obstacle when the machine is working in the forest, due to the unevenness of the soil, stumps, and fallen trees. Therefore, circular saws and cutters often fail. Flexible working body is able to deviate from insurmountable obstacles, which increases the reliability of the machine. Since each link of the flexible working body can move relative to the other, the use of analytical methods for describing kinematics is possible only for the cases with a large number of known input parameters, which we have shown in the mathematical model of the rotor. A virtual prototype of a rotor with a flexible working body has been created to describe the movement of a flexible working body with a minimum number of input parameters. 3d contact between the links, their geometrical parameters, initial position, weight, gravity, torque applied to the shaft are given in the simulation model of the rotor. Thus, (having only geometric and mass characteristics of the links of a flexible working body at the input based on a simulation experiment) dependencies have been obtained to determine the kinematics of the links of a flexible working body, taking into account its bending in the vertical and horizontal plane.