Abstract In-terrain transport of wood from sensitive areas with soft soil has always been difficult to perform in without extensive rutting and soil distortion. To carry out logging in wintertime, on frozen ground, is increasingly difficult as prolonged, rainy fall seasons and milder winters have decreased the window of opportunity for such operations. This creates strong demands for forest machines that can master soft soils. Exposure to whole body vibrations is a serious problem for operators of forest machines, which is also related to the machine-ground interaction. Both the soil and operator benefit from damped chassis suspension. Vibrations and soil distortion indicate loss of tractive energy. Instead of moving the machine, energy is lost in deformation of the ground and tractive elements, adding to motion resistance and to machine vibrations. Three recent developments of concept machines with improved soil interaction properties, reducing soil impact and improving operator comfort are presented. Two rubber tracked forwarders and one wheeled pendulum arm machine with active damping have been constructed, tested and analyzed. Results from standardized rutting and vibration tests of the concept machines are presented. Notable improvements regarding soil impact and rutting, operator comfort and fuel consumption were found. Some remaining technical challenges are also discussed.

中文翻译：

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三种新型货运代理的概念评估，用于更温和的森林作业

摘要 软土敏感地区木材的陆内运输一直难以在没有大面积车辙和土壤变形的情况下进行。冬季在冻土上进行伐木越来越困难，因为漫长的秋季多雨季节和较温和的冬季减少了进行此类作业的机会。这对能够控制软土的林业机械产生了强烈的需求。暴露于全身振动对林业机械操作员来说是一个严重的问题，这也与机器与地面的相互作用有关。土壤和操作员都受益于阻尼底盘悬架。振动和土壤变形表明牵引能量的损失。不是移动机器，而是在地面和牵引元件的变形中损失能量，增加运动阻力和机器振动。介绍了具有改进的土壤相互作用特性、减少土壤影响和提高操作员舒适度的概念机器的三项最新发展。已经建造、测试和分析了两台橡胶履带式运输机和一台带主动阻尼的轮式摆臂机。介绍了概念机器的标准化车辙和振动测试的结果。发现在土壤影响和车辙、操作员舒适度和燃料消耗方面的显着改进。还讨论了一些剩余的技术挑战。已经建造、测试和分析了两台橡胶履带式运输机和一台带主动阻尼的轮式摆臂机。介绍了概念机器的标准化车辙和振动测试的结果。发现在土壤影响和车辙、操作员舒适度和燃料消耗方面的显着改进。还讨论了一些剩余的技术挑战。已经建造、测试和分析了两台橡胶履带式运输机和一台带主动阻尼的轮式摆臂机。介绍了概念机器的标准化车辙和振动测试的结果。发现在土壤影响和车辙、操作员舒适度和燃料消耗方面的显着改进。还讨论了一些剩余的技术挑战。