中文摘要：

松软地面机器系统的理论研究,对农业、林业、矿业和军事等领域作业机械的发展具有重要的科学意义和工程应用价值。本文总结了松软地面机器系统基础理论,以及松软干沙地面轮壤关系最新研究进展;从土壤动物形态、结构和柔性方面阐述仿生脱附减阻机理,综述了地面机械触土部件的仿生理论基础;概括了用于地面力学特性测试的技术方法和地面机器系统研究的土槽测试系统;分析归纳了数值模拟方法在地面机器系统研究中的进展;进而对松软地面机器系统理论方法在触土部件和车辆行走机构中的应用研究进行了展望。

英文摘要：

The theoretical research on soft-terrain machine systems has scientific significance and engineering application value to agriculture, forestry, mining and military. Firstly, the development on research of the basic theories and the latest research on soil - wheel interaction relationship of soft-terrain machine systems were reviewed. Then, the anti-adhesion and resistance reduction mechanism of soil animal from morphology, structure and flexibility, as well as the bionic theoretical basis for terrainmachine soil-engaging component were also reviewed. Secondly, the measurement methods for terrain mechanical properties and the soil bin testing equipments for the research were introduced. Moreover the development on research of numerical simulation methods for the terrain machine systems was analyzed and summarized. Finally, the applications of the terrain machine systems theories and methods for soil- engaging component and vehicle motion mechanism in the future were discussed.