Development and Automatization of Operation of Articulated Train-Vehicle for Off-road Usage

铰接式列车车辆是根据新的设计理念建造的，适用于崎岖地形和陡坡。该小车具有两个具有二维弯曲自由度的铰接机构，由三个单元小车组成。铰接机构由两个位于下部的液压缸和一个位于上部的万向节组成.测量了8个车轮的轮路，讨论了不同行驶工况下的抗倾覆稳定性。稳定性范围较宽.对两个铰接机构的计算机辅助操作进行了研究，并对液压缸的定位精度进行了讨论。当人通过调节弯曲角度来操作铰接机构时，活塞位移由微机数控，后铰接机构对前铰接机构随动控制.考虑了集材车在野外作业的一个例子。测量了地面上的防滑阻力。评价了实际森林条件下集材作业的效率，并讨论了能耗。

The articulated train vehicle was constructed under new design concept for usage on rough terrain and steep slopes. The vehicle has two ariticulate mechanism which have two dimensional freedom of bending and is composed from three unit vehicles. The articulate mechanism is composed from two hydraulic cylinders set at lower position and one universal joint set at upper position.1. Wheel road at each of all 8 wheels was measured, and antioverturn stability was discussed on several couditions of travelling. Wide range of stability was confirmed.2. Computer assist for operation of two articulate mechanisms was developed and discussed on positioning accuracy of hydraulic cylinders. When man oprates the articulate mechanism by adjusting the bending angles, piston displacement is numerically controlled by micro computer and rear articulate mechanism is follow-up-controlled to the front.3. An example of field operation by the vehicle as skidder was considered. Skidding resistances on terrain were measured. The efficiencies of skidding operations on actual forest condition were evaluated, and also consumed energy eas discussed.