To solve the problem of mechanization and automation of loading operations when harvesting vegetables Packed in bags, a loading and transport unit is proposed. A parallel-sequential structure manipulator has been developed for the loading and transport robot. The service area of the pincer grip is obtained from the condition of the specified chassis width. The geometrical parameters of the manipulator boom actuating drive from the condition of providing the required service area are justified. The choice of actuators is based on the condition of minimizing the influence of the maximum value of the force acting on the output link. The analytical dependence of the force on the rod of the Executive actuator on the angle of inclination of the arm of the manipulator is obtained. Graphical dependences of the force on the actuator rod on the angle of rotation of the boom in the form of a three-dimensional surface are constructed. Analytically favorable conditions for the transfer of motion and forces in mechanics are formulated. The quality of motion transmission in the lever mechanisms of the manipulator was evaluated according to the criteria for reducing the pressure angles in the hinges. The description of the loading and transport robot manipulator device is presented. An experimental sample of a parallel-serial manipulator was developed and manufactured. Taking into account the formulated dependencies and limitations allowed us to create a universal prototype of the manipulator, which can be installed on various self-propelled chassis. A system for controlling actuators according to various laws of program movements has been developed. Determining the coordinates of bags of vegetables is determined by the technical vision system.

Based on the results of experimental studies of the experimental root crop grinder, the dependence of the cutting force during grinding of root crop on the constructive and regime factors of the grinder was determined: αc - chevron angle, deg., αi - angle of installation of knives in the knife wall, deg., vk.w. – speed of the knife wall, m/s, hw – height of the knife wave, mm in the form of a regression equation. According to this equation, the dependencies of the influence of factors on the value of the cutting force are constructed. As a result of the processing of graphic material, the studied factors are determined at the optimal level: αc = 48...49 deg., αi = 26...27 deg., vk.w. = 0,92...0.94 m/s and hw = 1...2.

The article presents the results of experimental research on the sorghum harvester, equipped with a threshing-separating device of the inertial-combing type for harvesting Donskoe-35 variety broom sorghum, work quality in the conditions of farms in the south-western zone of the Volgograd region of Russia. The heads losses change (Qm) dependences on the combine speed (Vk) were determined: before the threshing chamber Qm = – 0.079Vk 2 + 0.426Vk + 0.01, behind the header Qm = – 0.133Vk 3 + 1.2Vk 2 – 3.567Vk + 4.1 and after the threshing chamber Qm = 0.057Vk 2 – 0.321Vk + 1.046, as well as grain losses (Qz): behind the normalizer Qz = 0,03Vk 3 – 0,241Vk 2 + 0,686Vk – 0,083, by the Qz = 0,004Vk 2 + 0,025Vk + 0,28 and under-threshing in a head Qz = 0,033Vk 2 – 0,032Vk + 0,204. The sorghum harvester threshing growing heads by a threshing-separating device of an inertial-combing type showed a high quality of work: an increased level of heads losses was observed behind the header at combine speeds up to 1.5 m/s, but they did not exceed 2.6% at a combine speed of 0.5 m/s; while studying types of grain losses, the losses behind the normalizer reached the level of 0.6% at a combine speed of 3.0 m/s; the loss of grain behind the thresher and under-threshing in the head did not exceed 0.4%.