New nature management, biotechnologies and other elements of the sixth technological order, to which the most developed countries are already beginning to move, also create new problems, risks and challenges. In the forest sector of the economy of the Russian Federation, such a challenge and problem is the need to strike a balance between sustainable development of forestry, as the basic sector of the forest sector, on which the entire pyramid of forestry industries rely, and environmentally responsible and safe forest management. Unfortunately, the Voronezh region has long lost its former glory, backed up by the presence of mighty oak stands and huge ship timber reserves, prompting Peter I to create a powerful Russian fleet. And when in 1970 it was decided to host the Research Institute of Forest Genetics and Breeding in Voronezh, then considerations about the revival of the forest potential of Voronezh oak forests was one of the last argument in favor of this particular territory. And today, it's not too late to develop an ambitious project to restore selective, highly productive oak stands, increase the forest cover of the region to 12 percent or more, which will affect not only the quality of the ecological environment, growth of socioeconomic indicators, increase in the yield of agricultural producers, but also at the level of investment attractiveness of the region. As a rule, in this case, the system organizes itself, the degree of its ordering increases, and a positive synergistic effect of a multifaceted nature arises. Moreover, the total synergistic effect of the self-organizing system is not a simple sum of the individual components of this effect, but often their multiplication, which significantly increases the final result.

The paper proposes a new method to evaluate technical, technological and organizational parameters of the developed automated system for designing logging operations based on multi-level structural improvement in the processing procedure. To justify the optimal technology of this procedure, the complex indicator of specific energy consumption was introduced, and a mathematical apparatus sensitive to changes in a wide range of the worker’s characteristics was developed. Besides, the natural environment of the parameters of gasoline-powered tools, technology and process organization, and the worker’s individual characteristics such as qualification and fatigue were considered. The algorithms and programming software written in Delphi were elaborated to reliably predict the operation of various sets of gasoline-powered tools in 12 possible technological sequences based on the mathematical apparatus obtained. The discrepancy between the experimental and modeling data was found not to exceed 3-6 %. As a result of using the considered tools and software, it became possible to improve the performance of processing operations by identifying optimal technical and technological solutions under the given conditions of production and the natural environment at the stage of technological design.

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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.

The analytical modeling of multi-link mechanisms with a large number of degrees of freedom is a difficult task, therefore, it is advisable to use a simulation model Since it is planned to use a flexible working body on an area overgrown with vegetation, this will require a significant number of elements and, as a result, it will be very difficult to perform work using computer-aided design. In this paper, a simulation model of a flexible working body is implemented in a cross-platform Unity development environment. In computer-aided design systems, we are limited to tools and algorithms created by developers. In Unity, we have the opportunity to create our own tools and algorithms, adding it to the links of interest to us, which are solids in the field of gravitational forces. We created a 3D model of each link of a flexible working body, connected it with hinges with the possibility of moving relative to each other. Added scripts to accelerate the rotor and save the coordinates of the links. Based on the obtained coordinates, dependencies were constructed to determine the kinematics of the links of the flexible working body, taking into account its bending in the vertical and horizontal plane under the action of gravity.