中文摘要：

利用ABAQUS软件建立机器人脚-土壤的相互作用模型，采用任意拉格朗日-欧拉（arbitrarylagrangian-eulerian）方法，结合物质点追踪技术，分析机器人脚沉陷过程中脚底土壤的流动情况，通过讨论机器人脚在不同沉陷量下脚底内外侧土壤追踪点的位移和密度场分布，阐述脚底内外侧土壤的挤土效应。另外，通过分析主应力矢量变化、径向应力和竖向应力分布规律，发现了沉陷过程中脚底土壤形成主应力拱，局部区域内发生应力的传递和转移，作用于拱脚处的土体竖向压应力转化为拱内土体的径向压应力；第三主应力的偏转导致局部土体在沿竖向和径向上的应力发生叠加，中轴线上分别形成了竖向和径向应力峰值。

英文摘要：

Two dimensional finite element models were established via ABAQUS software in this paper. In view of dynamic problems involving large deformation in sinking, the arbitrary Lagrangian-Eulerian （ALE） method was used to describe the interaction between foot and soil, and the traced points were created to record the trajectories of soil particles. The radial and vertical displacement of traced points and the soil＇s density field distribution at different sinking depth were extracted to study the soil squeezing effect under the sole of foot. By analyzing the variation of the distribution of principal stress vectors, radial and vertical stress distribution, soil arching effect caused by the third principal stress was found under the vertical plane strain condition. Due to the deflection of the principal stress vectors, the third principal stresses overlap respectively in the radial and vertical directions, leading to the peaking values of the radical and vertical stress in the central axis respectively of the radical and vertical stress in the central axis