A Fundamental Study of Application of Vehicles to Forest Operations in Mountainous Terrain

研究了车辆在崎岖路面上的运动特性与路面条件的关系。为此，在车辆运动时动态测量姿态角度的系统由姿态传感器和便携式计算机组成。该系统结合了必要的测量速度。它还将用于有腿车辆的姿态控制。因此，很明显，车辆的俯仰角大于地形倾角，其滚转角几乎等于它们（IWAOKA 1990）。通过实地调查，从作业效率的角度研究了大型测井车辆测井作业系统的适应性与地形条件的关系。在地形倾斜较大的情况下，姿态控制车辆的工作效率也没有明显降低。平衡大压力和姿态控制可以确保斜坡作业的效率。研究了腿式机器人在森林坡地作业中的适应性。一个只用两个杠杆相对控制几条腿的系统已经完成（NITAMI 1990a, b）。很明显，带有这种系统的腿式车辆在崎岖的地形上移动是有效的。通过将腿端地压与腿端压力传感器相平衡，可以减小对土壤的扰动。继续对腿式车辆在倾斜和粗糙地形上的应用进行了研究。

The relationship between the behavior of vehicles moving on a rough terrain and the ground surface conditions was investigated. For this purpose, a system, which measures posture angles dynamically at the time of a vehicle's movement, was complete with a posture sensor and a portable computer. This system combines the necessary speed of measurement. It will be also used for the posture control of the legged vehicle.Consequently, it became clear that vehicle's pitching angles were larger than terrain inclination, and its rolling angles were almost equal to them (IWAOKA 1990).With the field surveys, the relationship between the adaptability of the logging operation systems using large size logging vehicles and the topographic conditions was investigated from the viewpoint of the operational efficiency. The efficiency of the posture controlled vehicles wasn't reduced extremely even if the terrain inclination is steep. Equalizing grand pressure with posture control was available to ensure the efficiency of the operation on slopes.The adaptability of the legged vehicle to forest operations on slopes was investigated.A system to control several legs relatively with only two levers was complete (NITAMI 1990a, b). It became clear that legged vehicle with this system was effective for moving on rough terrain. Soil disturbance will become small by equalizing the ground pressure of legs with the pressure sensors on thend of legs. The investigation on the application of legged vehicles to inclined and rough terrains is continued.