Abstract
In this study, to analyze the influence of the cross-sectional shape of a rigid foot on its sinking performance in soft soil, a numerical model of the subsidence of a single leg was built using the arbitrary Lagrangian–Eulerian method in ABAQUS to describe the interaction between the foot and soil. After performing a simulation of circular, annular, X-shaped, and improved X-shaped feet, all with the same cross-sectional area, the end resistance, side resistance, and distribution of contact pressure along the radial direction were analyzed. The simulation results showed that the soil arching area caused by the hole at the bottom of a rigid foot can effectively increase the end resistance and that the side resistance increases with an increase in the side perimeter. The end resistance and side resistance of the improved X-shaped robot foot were higher than those of the X-shaped robot foot during the sinking process. The effects of the improved geometric parameters of the X-shaped robot foot on its sinkage w...
Highlights
Soft ground has strong water permeability, poor compression resistance, and low shear resistance
Research related to anti-sinkage methods for wheel terrain machines has primarily focused on changing the structural design parameters, such as increasing the wheel surface, track width, and tire size,2 using deformable wheels, such as arched tires and concave elastic screen wheels,3 and developing a bionic rigid wheel by studying the traveling mechanism of ostriches and camels walking on sand
Three soil meshes with the total height of 400, 600, and 800 mm are used to simulate the sinking process of the circular foot, and the results of load– sinkage curves are shown in Figure 4 to compare the influence of soil’s height on the simulation result
Summary
Soft ground has strong water permeability, poor compression resistance, and low shear resistance. We have performed explorative theoretical research on the feasibility of improving the anti-sinking ability of a robot foot by changing its shape, which can cause the transference of soil stress.11 This article investigates the influence of the geometry shape of a rigid foot on its sinking performance, and ABAQUS is used to establish a three-dimensional simulation model of single-leg subsidence.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
