The elements of the mathematical model of education of the spherical working space by manipulatory machines

At present, JSCo «Russian Railways» forms a coordinated policy in the field of ensuring the safety and reliability of the transportation process, one of the topical issues being the removal of undesirable woody and shrubby vegetation in the railroad outflow zone. To improve the efficiency of removal of undesired bedrock, as well as branches and stumps, to reduce the proportion of manual labor and to facilitate the working conditions of personnel, the author of the article studied resource-saving, small-scale compact mechanization tools that allow them to be used in Hard-to-reach places. These means of mechanization were considered in conjunction with modern vehicles, which can provide them with the necessary energy, both on the railway track and away from it. To improve labor productivity and quality of strip removal, working bodies are used, which are aggregated with vehicles equipped with manipulator plants. The article deals with the modeling of the spherical working space of manipulator machines in the railroad take-off zone, taking into account the division of the actual volume of the given space into a number of zones. Calculation schemes of manipulators for the mathematical description of the motion of their links in terms of and profile of the railway were compiled, and a scheme for the dynamic interaction of the rotor working organ with tree and shrub vegetation is given. The schemes of formation and limitation of the working space of a low-end manipulator with a rotor working body are given. A conclusion is drawn on the prospects of obtaining, in view of the above elements of the mathematical model, a number of important practical recommendations for an entire system of machines possessing certain common properties.