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Characteristics of a log loading work with a grapple loader performed by a skilled operator(<SPECIAL ISSUE>Tools and machines for logging)

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Other Title
  • グラップルローダを用いた丸太積み込み作業における熟練オペレータによる機械作業の特徴(<特集>伐採搬出の道具と機械)
  • グラップルローダを用いた丸太積み込み作業における熟練オペレータによる機械作業の特徴
  • グラップルローダ オ モチイタ マルタ ツミコミ サギョウ ニ オケル ジュクレン オペレータ ニ ヨル キカイ サギョウ ノ トクチョウ

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Abstract

In this research, we attempted to clarify the effective machine control technique and working method of an expert worker by analyzing the motion of a grapple loader used in log loading work. In particularly, we focused on the locus of the grapple attachment, and thus installed sensors on each actuator of the knuckle boom for calculating the three-dimensional coordinates of the attachment. The average positioning error was 34.5 mm and the maximum error was 80.2 mm, both of which were considered adequately precise values for our analysis. We then investigated the task of loading 3.49 m^3 of logs on a forwarder carrier, as performed by two operators with different skill levels. As a result, we found that the productivity of work done by the expert was about two times higher than that by the beginner. A close examination of the operations clarified the expert's characteristic technique that contributed to high productivity as follows: 1) the work space was compact, and there was no unnecessary movement; 2) multiple actuators were operated simultaneously, and the attachment was maintained along the most efficient path; 3) the logs were handled stably by being gripped at their center of gravity; and 4) the machine's power was used effectively and continuously during the work. An apparent difference in the operating skills between the beginner and expert has been suggested, and that difference could cause the difference in productivity.

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