关键词: 仿生羊蹄, 附着性能, 履带板履刺, 林地土壤特征参数, EDEM离散元仿真

Abstract:

Objective: Aiming at the issue of low traction performance of track shoes on tracked vehicles operating in soft forest soil conditions, this study combines the highly adaptive morphology of the goat hoof bulb with the grouser design of track shoes. A bionic goat hoof track shoe is designed, offering a new approach and solution for enhancing the traction performance of tracked vehicles in forest terrain. Method: Based on the prototype goat hoof, reverse engineering technology was used to construct a 3D model and extract the ridge curve of the hoof bulb contour. MATLAB software performed third-order curve fitting on this ridge curve to obtain its equation. This equation guided the design of the bionic grouser, leading to the development of the bionic goat hoof track shoe. Conventional straight grouser track shoes served as the experimental control. Based on Rankine’s passive earth pressure theory, theoretical calculation formulas for the traction force of both straight grouser and bionic goat hoof track shoes were derived. Soil mechanical tests, based on the soil conditions of Camellia oleifera forests in central-south China, were conducted to obtain characteristic soil parameters. These parameters were used in theoretical calculations to determine the theoretical traction force values for both shoe types. Using EDEM software, a discrete element system with soil parameters determined from forest soil was established. The Hertz-Mindlin model combined with JKR and HMB bonding models served as the contact model between soil particles. Simulations analyzed the traction performance of both track shoe types. Physical track shoes were manufactured, and soil bin tests were performed to obtain experimental traction force values. Result: Theoretical analysis showed that the theoretical traction force of the bionic goat hoof track shoe was 165.04 N, compared to 152.36 N for the straight grouser shoe, representing an increase of 8.32%. Analysis using EDEM’s post-processing functions revealed that the average simulated traction force for the bionic shoe was 181.17 N versus 161.33 N for the straight grouser shoe, an increase of 12.30%. Microscopic analysis of the soil particle field indicated that a higher proportion of particles around the bionic shoe exhibited high stress, leading to greater traction force. Soil bin tests demonstrated that the average experimental traction force of the bionic goat hoof track shoe was 173.41 N, compared to 150.89 N for the straight grouser shoe, an increase of 14.92%. These experimental results further validated the correctness of the theoretical calculations and simulation outcomes. Conclusion: Under soft forest soil conditions, the bionic goat hoof track shoe demonstrated superior traction performance compared to conventional straight grouser shoes across theoretical analysis, simulation analysis, and experimental testing. This conclusively proves the superiority of the bionic grouser design. The study provides a theoretical basis for the structural parameter design of track shoes aimed at enhancing the traction performance of tracked vehicles operating in forest terrain.

Key words: bionic goat hoof, adhesive performance, track shoe pattern, soil characteristic parameters of forested areas, EDEM discrete-element simulation