The mathematical model of a modular control system of links of the snake like robot for realization of the wave movement considering the moments of the external forces created by adjacent links and external indignations is given in work. As model of the electric drive of a direct current the differential equation of the second order connecting tension of u(t) given on the electric motor, the moment of loading of Mn (t) and an output angle of rotation of a shaft θ(t) is used. Transfer functions of separate links are calculated, and transfer function of a control system in general is received.

Requirements for equipment for electron beam welding of small size pieces are presented. Fea tures of physical processes of the formation of low power electron beams in process installations are shown. Mathematical simulation methods were used for the analysis of the operation of a three electrode electron gun and for the choice of operation modes of power sources. The design and characteristics of the developed inverter power source for the electron beam gun are described. The design of an electron beam welding unit for small size pieces is given.Keywords: electron beam unit, electron beam welding, electron gun, electron beam, inverter power source