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Development of machine and technics for operations to improve the operational efficiency on the steep terrain.

Research Project

Project/Area Number 02556019
Research Category

Grant-in-Aid for Developmental Scientific Research (B)

Allocation TypeSingle-year Grants
Research Field 林学
Research InstitutionThe University of Tokyo

Principal Investigator

MINAMIKATA Yasushi  Univ. of Tokyo, Fac. of Agric., Emeritus Professor, 農学部, 名誉教授 (00011841)

Co-Investigator(Kenkyū-buntansha) NITAMI Toshio  Univ. of Tokyo, Fac. of Agric., Univ. For., Associate Professor, 農学部(林), 助教授 (20192255)
YAGI Hisayoshi  Univ. of Tokyo, Fac. of Agric., Associate Professor, 農学部, 助教授 (80191089)
SAKAKI Hideo  Univ. of Tokyo, Fac. of Agric., Associate Professor, 農学部, 助教授 (70126069)
SASAKI Satohiko  Univ. of Tokyo, Fac. of Agric., Professor, 農学部, 教授 (20196158)
KOBAYASHI Hiroshi  Univ. of Tokyo, Fac. of Agric., Professor, 農学部, 教授 (00111394)
丹下 健  東京大学, 農学部, 助手 (20179922)
及川 良一  (株)及川自動車, 研究員
Project Period (FY) 1990 – 1992
Project Status Completed (Fiscal Year 1992)
Budget Amount *help
¥14,800,000 (Direct Cost: ¥14,800,000)
Fiscal Year 1992: ¥1,600,000 (Direct Cost: ¥1,600,000)
Fiscal Year 1991: ¥3,400,000 (Direct Cost: ¥3,400,000)
Fiscal Year 1990: ¥9,800,000 (Direct Cost: ¥9,800,000)
KeywordsSilvicultural work / Semi-legged vehicle / Steep and rough terrain / Weeding / Working accuracy / Mechanization / Control system / Hardware control / 急傾斜森林 / 下刈作業精度
Research Abstract

In order to get high operational efficiency of silvicultural operations which need rapid move at steep hillsides, a control system for semi-legged vehicle which may have high possibility to obtain good trafficability at steep terrain was developed and the operation system for site-preparation and plantation was also developed. A full scale semi-legged vehicle was built up, and its control system and mechanical alignments are had been developing. The influences on the seedlings growth from the under bush cleaning were surveyed by differentiating degree of bush cleaning around seedlings.
Improving the vehicle
Examinations on the strength and the moving speed of the vehicle had result of making it smaller Its legs were made shorter, and its body was made smaller. And its hydraulic cylinder was changed into larger one, and it got extra hydraulic pumps. Now, its engine is changing into larger one.
Improvement on the control system
The sensor on the angle of front legs were changed from fragile encoder into popular potentiometer. A part of control system was changed into hardware control with Pulse Modulation wave generator (Toshiaki TASAKA et. al. 1993). This made the vehicle's moving smoother.
Relationship between weeding method and growth of seedlings
The effects of weed remained around a seedling on the growth of a seedling was different in species. It was cleared that a seedling which is two times taller than other grasses isn't easily effected on its growth (Takeshi TANGE et. al. 1992). There is no serious damage on the growth of a seedling with weeding remained around a seedling. This means that the mechanization of weeding on steep and rough terrain has good possibilities.

Report

(4 results)
  • 1992 Annual Research Report   Final Research Report Summary
  • 1991 Annual Research Report
  • 1990 Annual Research Report
  • Research Products

    (22 results)

All Other

All Publications (22 results)

  • [Publications] 丹下 健: "下刈作業の機械化に関する研究" 第43回日本林学会関東支部大会発表論文集. 57 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] 田坂 聡明: "脚式歩行機械のための制御システムの検討" 第43回日本林学会関東支部大会発表論文集. 147-148 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] 岩岡 正博: "グラップルソーを用いた土場作業" 第43回日本林学会関東支部大会発表論文集. 155-156 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] 仁多見 俊夫: "半脚式車両の脚動作の精度" 第103回日本林学会大会発表論文集. 691-694 (1992)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] 田坂 聡明: "半脚式車両の脚操作システム" 第44回日本林学会関東支部大会発表論文集.

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Takeshi TANGE: "Study on the weeding with machine. Effects of weed remained around a seedling on the growth of a seedling" Trans. of 43rd Annual Mtg. of the Jpn . For. Soc. Kanto Branch. 57-60 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Toshiaki TASAKA: "Studies on control system for legged machine" Trans. of 43rd Annual Mtg. of the Jpn. For. Soc. Kanto Branch. 147-148 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Masahiro IWAOKA: "Bucking and piling with grapple-saw" Trans. of 43rd Annual Mtg. of the Jpn. For. Soc. Kanto Branch. 155-156 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Toshio NITAMI: "Maneuver accuracy of a leg end of a Semi-legged vehicle" Trans. of 103rd Annual Mtg. of the Jpn. For. Soc.691-694 (1992)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] Toshiaki TASAKA: "Automatic control system for Semi-legged vehicle" Trans. of 44th Annual Mtg. of the Jpn. For. Soc. Kanto Branch. (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1992 Final Research Report Summary
  • [Publications] 丹下 健: "下刈作業の機械化に関する研究-苗木のまわりの雑草木の刈り残し量が苗木の成長にあたえる影響-" 第43回日本林学会関東支部大会発表論文集. 57-60 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] 岩岡 正博: "グラップルソーを用いた土場作業" 第43回日本林学会関東支部大会発表論文集. 155-156 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] 仁多見 俊夫: "半脚式車両の脚動作の精度" 第103回日本林学会大会発表論文集. 691-694 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] 岩岡 正博: "車両の動きとオペレータの生理的反応" 第103回日本林学会大会発表論文集. 717-718 (1992)

    • Related Report
      1992 Annual Research Report
  • [Publications] 田坂 聡明: "半脚式車両の脚操作システム" 第44回日本林学会関東支部大会発表論文集.

    • Related Report
      1992 Annual Research Report
  • [Publications] 仁多見 俊夫: "半脚式車両の脚制御システム" 日本林学会102回大会論文集. 102. 709-710 (1991)

    • Related Report
      1991 Annual Research Report
  • [Publications] 仁多見 俊夫: "半脚式車両の脚動作の精度" 日本林学会103回大会論文集. 103. (1992)

    • Related Report
      1991 Annual Research Report
  • [Publications] 丹下 健: "下刈作業の機械化に関する研究" 日本林学会関東支部43回大会論文集. 43. (1992)

    • Related Report
      1991 Annual Research Report
  • [Publications] 田坂 聡明: "脚式歩行機械のための制御システムの検討" 日本林学会関東支部43回大会論文集. 43. (1992)

    • Related Report
      1991 Annual Research Report
  • [Publications] 岩岡 正博: "グラップルソ-を用いた土場作業" 日本林学会関東支部43回大会論文集. 43. (1992)

    • Related Report
      1991 Annual Research Report
  • [Publications] 仁多見 俊夫: "半脚式車両の歩容の3次元シミュレ-ションによる検討" 日本林学会関東支部42回大会論文集. 42. (1991)

    • Related Report
      1990 Annual Research Report
  • [Publications] 仁多見 俊夫: "半脚式車両の脚制御システム" 日本林学会102回大会論文集.

    • Related Report
      1990 Annual Research Report

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Published: 1990-04-01   Modified: 2016-04-21  

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