## 3 Statement of Basic Materials
Comparing curves 2 and 3 with curve 1 (Figure 5), it can be noted that in 1.1-1.3 s, from the beginning of the rotor movement from the side wall of the trench in some cases (curves 2 and 3), the values of \(M_{\rm t}\) on the rotor increase, and then with the additional rotation, they remain practically unchanged. Otherwise (curve 1), the torque on the rotor decreases and increases only when the intermediate frame is additionally rotated. This indicates that in modes 2 and 3, the delay time of the intermediate frame rotation is insufficient compared to the required one for complete alignment of the shaving thickness. As a result, when the rotor moves on the face, the shaving thickness is increased, not aligned. This causes an increase in the value of all forces determining the torque value. The geometric interpretation of the \(M_{\rm t}\) change during the half-cycle (Figure 6) in mode 1 shows that the delay time \(t_{\rm ar}=1.1\) s is too long for soil development with a longitudinal supply rate \(V_{\rm s}=27\) m/h. Thus, when the actuator moves laterally in the face, the shaving thickness cut by buckets is decreased, with all the consequences of this process. The result of the research is an important conclusion: for each speed of the actuator supply to the face \(V_{s}\), it is necessary to ensure the time of the additional rotation of the intermediate frame (i.e., its \(t_{\rm ar}\)). It will equalize the torque value on the rotor during the half cycle and reduce its absolute values. Since during the operation of real machinery the law of \(V_{\rm s}\) change is random even when operating in one gear (different soil density, slippage of the base chassis engines), the uniformity of loads on the rotor (\(M_{\rm t}\)) is ensured only by automatically adjusting the length of the additional rotation of the intermediate frame, depending on the real supply rate of the actuator to the face. It has been experimentally established that the value of the vertical forces on the rotor during the half-cycle varies according to the parabolic law, and the minimum value of the vertical force is at the beginning of each half-cycle; the maximum one is at the end. The obtained pattern for changes of vertical forces is due to the complex change of excavation forces, soil friction on the face surface, and the soil weight in the rotor buckets depending on the kinematic parameters of the operating process. In modes without additional rotation of the intermediate frame (Figure 6a), the vertical forces at the beginning of the half-cycle increase evenly due to both a uniform increase in the shaving thickness cut by the cutting edges of buckets and an increase in the speed of the rotor lateral supply to the face during the first half of the half-cycle. In addition, this is explained by the soil prism formed in front of the rotor during its lateral movement. The volume of the prism increases when the rotor approaches the face wall, where, eventually, all the soil is removed by buckets, increasing the load on the rotor drive. The most loaded is the mode of the highest efficiency at the cutting speed \(V_{c}=6\) m/s (Figure 6a); the maximum value is \(P_{\rm v}=45\) kN. The traction force to move the rotor in the face is determined by the excavation forces, friction forces of the transported soil against the face surface, and the inertial loads of the operating equipment. At the initial moment of the half-cycle, when the longitudinal speed of the operating equipment movement is directed from the face, there is no frontal cutting. At this time, there are no excavation forces and the rotor buckets in the face are filled with soil. The load on the rotor is determined by the soil inertia forces in the buckets and, to a lesser extent, by the soil friction forces against the face walls. Significant circular speed of soil transportation causes large inertial loads on the rotor because the speed vector of its longitudinal movement is directed from the face (Figure 7a).