中文摘要：

基于螃蟹对滩涂、沙地、湿地等有很强的运动适应性,参照中华绒螯蟹步行足指节的结构,设计了4种仿生步行足：圆锥、圆锥沟纹、棱锥和圆柱沟纹步行足,并与圆柱足对照。通过土槽试验,考察在多种试验条件下,不同步行足对入土力、支承力、推进力和出土力的影响,并采用正交试验分析影响推进力的主要因素。与圆柱足的对比试验结果表明：仿生足有良好的沙地力学特性,锥形仿生足入土力减小64.71%~95.43%;圆柱沟纹仿生足使支承力增加9.48%~24.31%,推进力提高3.84%;仿生足出土力降低13.26%~89.83%,有效减少能耗。研究成果为松软路面步行机构触土部件的设计与优化提供了基础依据。

英文摘要：

Slipping and sinking easily happens on soft terrain,and it will affect the tractive performance of the vehicle. The passing ability on the soft terrain is very important for agricultural terrain-machine and mobile mechanism. Chinese mitten crab is a kind of common arthropod in China,which inhabits the shore of river and lake with mud everywhere. Viewed this way,the capability of going through soft terrain of crab is valuable for designing bionic walking mechanism and agricultural machine,which works on the sand,swamp,beach or wetland. Four bionic walking feet compared with cylinder foot were designed by learning from the Chinese mitten crab dactylopodite. Experiments were separately carried out on dry sand,wet sand,coarse sand and fine sand. Through experimentation the impact of the shape and grooves for foot on in-soil force,bearing force,pullout force and propulsive force were examined. Moreover,the order and contribution rate of every experiment factor on propulsive force were analyzed by orthogonal tests,range analysis and ANOVA. The results showed that the bionic walking foot had superior mechanical characteristics than cylinder foot on sand. In-soil forces of cone shape bionic foot were64. 71% ~ 95. 43% smaller than those of cylinder foot. The bearing force of cylinder bionic foot with grooves was 9. 48% ~ 24. 31% larger than that of cylinder foot. Moisture content was the most critical influence factor on propulsive force. And the propulsive force was increased by about 3. 84% with bionic walking foot. For all the bionic walking feet,the pullout forces were smaller,and the maximum reduction reached 89. 83%,which indicated that the energy consumption of bionic feet was smaller. The bionic feet could be applied in various walking mechanism for different working conditions. This research provides basis for the design and optimization of soil contact parts for walking mechanism on soft terrain.