Feasibility studies on the portable tree-felling manipulator “TATSUMI”－Evaluation of the positioning, fixation, and ease of conveyance －

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  • 伐倒ポータブルマニピュレータ TATSUMI の設置・固定と運搬性能のフィージビリティスタディ

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Abstract

<p>Tree felling operations are urgently needed in Japan. Japanese forestry work is done in precipitous mountain forests, where the movement of large and heavy machinery is restricted. Consequently, portable machinery that can be carried by workers is strongly needed. Machines used in forestry to fell trees include large harvesters and feller bunchers. In Japan, however, tree-felling work is done almost exclusively with chainsaws, leading to many fatal accidents and severe injuries. The authors therefore develop a manipulator that can fell trees and be carried by a single worker. The tree-felling operation of this manipulator, TATSUMI, has been demonstrated up to version IV, which succeeded in mechanization of the manual felling operations. The accuracy and stability of its work has been evaluated. In addition, TATSUMI V was developed with the aims of improving its positioning, fixation, and ease of conveyance. Here we report the details of the TATSUMI V and results verifying felling operation using it.</p>

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