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A track-type grapple log skidder was dynamically modeled to allow machine modification by computer to determine the effects of these modifications on the operation of the machine in the forest. The model consisted of an undercarriage, power train, log/drag force, and logging equipment (arch and grapple). This skidder had three types of logging attachments: winch, swinging boom (grapple), and single-function arch (grapple). Each was modeled and simulated under various conditions. The dynamic model of the skidder can be used to analyze its drawbar pull capability and lateral stability with various log weights and soil types on steep slopes. Validation of this model is needed later.

A prototype in-field transport system for high-value crops was designed and built. This system carries a semi-trailer upon two rubber-tracked undercarriages. A mechanism was designed for timely assembly and disassembly of the system. A set of field experiments was conducted to compare the sinkage, motion resistance, and drawbar forces of the rubber-track versus the current pneumatic-tire system. Increased flotation was observed with the prototype system. The motion resistance of the track system was less than or greater than that of the pneumatic-tire system depending on the soil condition. The prototype met performance objectives during assembly, operation, and disassembly of the system.