Simulation of harvester movements during selective cuttings

The article deals with the issues of modeling the operation of cutting machines in various natural and industrial conditions of cutting areas. Particular attention is paid to the work of harvesters when performing selective logging. The aim of the study is to create mathematical dependencies that allow for a comparative theoretical assessment of the trajectory of the harvester manipulator during simulation modeling of the spatial placement of trees. In the course of achieving this goal, a calculation scheme was created to determine the distances of movement of the manipulator and the harvester when pointing the manipulator at a growing tree and moving the fallen tree to the bucking zone. One of the distinctive characteristics of the conducted research is the analysis of the choice of the trajectory of the manipulator during the implementation of selective logging. The authors provide a consistent conclusion of the desired mathematical dependencies based on the basic principles of geometry, which makes it possible to verify the reliability of the theoretical approach and the degree of its adequacy to real production conditions. The analysis of the obtained dependencies allows us to conclude that the number of trees in the manipulator's area of operation significantly affects the duration of the harvester. The calculations show that the presence of trees of a non-target component in the work area of the manipulator can increase labor costs by 15%. This indicates the degree of influence of non-target component trees remaining in the cutting area, and clearly demonstrates the possibility of taking them into account when modeling the performance of cutting machines.