Research in mechanical model of bionic foot intruding into sands with different physical characteristics |
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| Affiliation: | 1. Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130022, PR China;2. China North Vehicle Research Institute, Beijing 100000, PR China;1. Department of Agrotechnology, College of Abouraihan, University of Tehran, Tehran, Iran;2. Department of Biosystems Engineering, Faculty of Agriculture, Ferdowsi University of Mashhad, Mashhad, Iran;1. Kuban State Agrarian University, 13 Kalinin Street, 350044, Russia;2. South Ural State University, 76 Lenin Avenue, Chelyabinsk 454080, Russia;3. South Ural State Agrarian University, 13 Gagarina Street, Troitsk 457100, Russia;4. Belgorod State Agricultural University, 1 Vavilova Street, Mayskiy, Belgorod Region 308503, Russia;5. PRO FERRUM Limited Liability Company, 1st Krasnoarmeyskaya, 1, St. Petersburg 198005, Russia;6. Saint Petersburg State Forest Technical University named after S.M. Kirov, 5 Institutskiy per., St. Petersburg 194021, Russia;7. Novosibirsk State Agrarian University, 160 Dobrolyubova st., Novosibirsk 630039, Russia;8. Siberian Federal Scientific Center of Agro-BioTechnologes of the Russian Academy of Sciences, Krasnoobsk, Novosibirsk Region, Russia;9. Kurgan State Agricultural Academy by T S Maltsev, Village Lesnikovo, Ketovsky District, Kurgan Region 641300, Russia |
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| Abstract: | In this study, a bionic foot with sand fixation and fluidization limitation functions was designed. Also a rectangular foot with the same sizes, named the common foot, was designed for comparison. Three kinds of quartz sands were selected to study how particle size, shape and compactness affected the intrusion performances of mechanical feet. The intrusion resistive forces and pressures of the bionic foot on these three kinds of quartz sands were all smaller compared with the common foot. Discrete element simulations showed particle disturbance areas were smaller and particle motion trends were more consistent under the bionic foot versus the common foot. The intrusion resistive forces of these two kinds of mechanical feet firstly increased and then decreased with the increasing particle sizes of quartz sands. Moreover, the intrusion resistive force on spherical particles was less than that of irregular particles for both the bionic foot and the common foot. The corresponding resistive forces of mechanical feet were characterized based on quartz sand compactness. The classic pressure-sinkage model was modified based on the intrusion tests, and the relationships between intrusion resistive force and mechanical foot depth were obtained. |
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| Keywords: | Quartz sands Physical characteristics Bionic foot Intrusion resistive force Mechanical model Discrete Element Method |
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