JUSTIFICATION OF THE MANIPULATOR STRUCTURE OF THE MOBILE LOADER OF CONTAINERS WITH VEGETABLES
The mechanization of loading and unloading operations in agriculture is always an urgent task. When harvesting vegetables such as onions and carrots, they are usually packed in nets on the field, loaded manually on vehicles and delivered to the consumer in this form. For the mechanization of loading and transport work when harvesting vegeta-bles packed in nets, the design of the loading manipulator on the mobile chassis is pro-posed. The design feature is that the component of the loading manipulator is a mechanism of parallel structure - a tripod. The required number of degrees of freedom of capture for the quality assurance of the process is substantiated. The structure of the manipulator and the substantiation of the mobility of its articulated catch are carried out by optimization methods of structural synthesis. The parameters of the main geometrical dimensions of the links are determined, which make it possible to provide the required service area and, correspondingly, the width of the loading unit at least its body width. Preliminary power calculations show that electric cylinders can be used as executive drives, which can easily replace the hydraulic actuator. The use of an electromechanical drive will allow to automate the process of controlling the capture of the manipulator and use the loader as a robotic loading vehicle. In order to use the loading manipulator as an autonomous robot, the features of controlling the capture of the proposed manipulator on a mobile self-propelled chassis are defined. For example, the kinematic redundancy of the manipulator, necessary to ensure the maneuverability of its capture, in turn necessitates the solution of the optimization positioning problem. Taking into account the features of the loading ma-nipulator in the automatic mode, new tasks for further research are defined, and this is the solution of the trajectory problems, the synthesis problems of the program control move-ments of the executive units to obtain the necessary trajectories and the laws of movement of loads along them.