The paper presents the stages of the development of the precession reducing mechanism for electric drive of the agricultural winch. The formulas for calculating basic parameters are given which ensure minimal mechanical losses in precession engagement, and also maximal possible smoothness of the rotation of the output shaft. The results of the computer research, factory and maintenance testing are given.

The paper presents the stages of the development of the precession reducing mechanism for electric drive of the agricultural winch. The formulas for calculating basic parameters are given which ensure minimal mechanical losses in precession engagement, and also maximal possible smoothness of the rotation of the output shaft. The results of the computer research, factory and maintenance testing are given.

The paper describes rational profile of slipper heads with the help of differential geometry methods. The profile permits to improve kinematic characteristics of a wheel-step mover.

In the work the mathematical model of movement of a saddle-type articulated lorry, based on use of the equations of nonholonomic constraints, allowing to solve of inverse problems of dynamics of movement of the lorry (definition of reactions of constraints of wheels with a bearing area and forces of interaction between lorry links) is presented. The results of modelling of movement of the lorry in transport and in brake modes of its movement on a curvilinear trajectory on PC are presented. The ways of representation of the results of modelling of movement of the lorry, which make it possible to estimate stability of its movement and algorithm of emergency braking control, excluding folding of its links are offered in the article.

In clause the substantiation of a choice of dynamic parameters of a drive of the shaft of selection of capacity of small-sized tractors by capacity 45 and 58 h. p. is executed.