Journal of Terramechanics最新文献_第4页

Hybrid grey wolf optimizer-ANN for predicting wheel energy consumption in off-road vehicles and enhancing resource management 混合灰狼优化-人工神经网络预测越野车车轮能耗并加强资源管理

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2025-05-02 DOI: 10.1016/j.jterra.2025.101067

Behzad Golanbari , Aref Mardani , Morteza Valizadeh , Nashmil Farhadi

This study uses a hybrid artificial neural network (ANN) with the Gray Wolf optimization algorithm (GWO) to predict wheel energy consumption in off-road vehicles. The main objective is to improve resource management and reduce the energy consumed due to wheel-soil interaction. Experimental data were collected through a Bevameter device in a controlled environment. Key parameters such as penetration depth, penetration velocity, vertical load, plate size, and number of passes were considered as inputs to the neural network. The neural network was trained using two trial-and-error methods and the GWO algorithm, and its performance was evaluated using MSE and R² metrics. The results showed that the GWO method performed better than the trial-and-error method, with a lower MSE of 0.5123 and a higher coefficient of determination of 0.9812. Data analysis showed that increasing speed and vertical load led to increased energy consumption while increasing the number of passes due to soil compaction reduced the energy consumption. This study shows that a hybrid neural network with the GWO algorithm can effectively predict the energy consumption in the indentation of plates in the soil, which is a kind of representative of the wheel.

本研究采用混合人工神经网络（ANN）和灰狼优化算法（GWO）对越野车辆的车轮能耗进行预测。主要目的是改善资源管理，减少因车轮-土壤相互作用而消耗的能量。实验数据通过Bevameter装置在受控环境中收集。将侵彻深度、侵彻速度、垂直载荷、板材尺寸和孔道数等关键参数作为神经网络的输入。使用两种试错法和GWO算法对神经网络进行训练，并使用MSE和R2指标对其性能进行评估。结果表明，GWO法比试错法具有较低的均方误差0.5123和较高的确定系数0.9812。数据分析表明，增加速度和竖向荷载会导致能耗增加，而增加土压实次数则会降低能耗。研究表明，结合GWO算法的混合神经网络可以有效地预测土壤中板压痕的能量消耗，这是车轮的一种代表。

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引用次数: 0

Modelling of soil-chisel tine interactions using the discrete element method 用离散元法模拟土-凿-时相互作用

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2025-05-02 DOI: 10.1016/j.jterra.2025.101068

Nurettin Kayahan , Mehmet Bahadır , Kazım Çarman

Optimization of operating parameters of soil tillage machines that require high energy in agricultural mechanization processes is of great importance in terms of reducing energy input and increasing efficiency. Discrete element method (DEM), one of the numerical simulation techniques, has been widely used in simulation studies on determining the operating parameters of soil tillage machines and their effects on the soil in recent years. In this study, DEM simulation was used to determine the effect of different chisel tine on the soil and the draft force. The results obtained from the experiments conducted in the soil bin were compared with the DEM simulation. As a result of the tests carried out at two different depths, the R, MSE and ε values determined to compare the draft forces obtained from the DEM simulation and the soil bin were found to be 0.99, 6853.59 and 10.43 for 20 cm working depth, and 0.993, 8401.974, 8.49 for 28 cm working depth, respectively. The values of R, MSE and ε determined for the deformation area were found as 0.997, 1375.1 and 7.04 for 20 cm working depth, and 0.975, 3196.75, 5.39 for 28 cm working depth, respectively.

农机化过程中耗能较大的土壤耕作机械的操作参数优化对减少能量投入、提高效率具有重要意义。离散元法（DEM）是一种数值模拟技术，近年来在确定土壤耕作机械运行参数及其对土壤影响的模拟研究中得到了广泛应用。在本研究中，采用DEM模拟来确定不同凿凿时间对土壤和吃水力的影响。将土仓试验结果与DEM模拟结果进行了比较。在两种不同的深度下进行的试验结果表明，20 cm工作深度DEM模拟所得的吃水力与土仓所得吃水力的R、MSE和ε值分别为0.99、6853.59和10.43,28 cm工作深度分别为0.993、8401.974和8.49。变形区的R、MSE和ε值在20 cm工作深度分别为0.997、1375.1和7.04，在28 cm工作深度分别为0.975、3196.75和5.39。

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引用次数: 0

Mechanical model building of bionic walking robot in motion with soft terrain 软地形运动仿生步行机器人力学模型的建立

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2025-05-02 DOI: 10.1016/j.jterra.2025.101059

Zhen Chen , Meng Zou , Jie Huang , Yuzhi Wang , Lianbin He

Bionic walking robots exhibit excellent mobility on rigid terrain.

however, their trafficability on soft terrain remains a significant challenge affecting their overall performance. To address this issue, we firstly developed a kinematic model of a bionic walking robot to derive the motion parameters between the footpad and soft terrain. Subsequently, a footpad-terrain interaction model was established to analyze the forces acting on the robot during its movement on soft terrain. An exemplar robot leg was built and three footpads at various walking speed were experimentally tested using a versatile single-legged test bench, various stages of footpad-terrain interactions were recorded and vertical force F₁ and horizontal force F₂ were measured. The results confirmed that the model could predict the forces with an accuracy greater than 90 %. The minimal differences observed between the experimental and model values suggest that the mechanical model is reliable for force analysis. Therefore, the mechanical model developed in the study could be further determine the forces exerted on the footpads at and defined moments and sinkage, and a layout foundation to understand the stability of walking robots.

仿生行走机器人在刚性地形上表现出优异的机动性。然而，它们在软地形上的通行性仍然是影响其整体性能的重大挑战。为了解决这一问题，我们首先建立了仿生步行机器人的运动学模型，推导了足垫与软地之间的运动参数。随后，建立了脚垫-地形相互作用模型，分析了机器人在软地形上运动时所受的力。在多用途单足试验台上，搭建了机器人样腿，对3个不同行走速度的脚垫进行了实验测试，记录了脚垫与地形相互作用的各个阶段，测量了垂直力F1和水平力F2。结果表明，该模型预测力的准确度在90%以上。实验值和模型值之间的最小差异表明，力学模型对力分析是可靠的。因此，本研究建立的力学模型可以进一步确定脚垫所受的力，并定义力矩和下沉，为了解步行机器人的稳定性提供布局基础。

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引用次数: 0

An insight into mobility power efficiency of an automated guided vehicle performing in the presence of a hinged trailer 在铰接拖车存在的情况下，对自动引导车辆的移动动力效率的洞察

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2025-04-10 DOI: 10.1016/j.jterra.2025.101056

S.M. Shafaei , H. Mousazadeh

This is the first research that it conceptually appraises new technical paradigm (mobility power efficiency) for automated guided vehicle (AGV) of tandem robotic transportation system. Pulling operations were conducted based on changes of operational parameters of the AGV speed, tire air pressure, and trailer load. Results of the operations for the mobility power efficiency (5.54–28.67 %) were compared to those of former technical paradigm (tractive power efficiency). Reliable data obtained from exponential model indicated that the AGV slippage values for the maximum mobility power efficiency were higher (averagely 3.1 times) than those of the maximum tractive power efficiency. As traction ability of the AGV in the pulling operations is more important than its mobility ability, the tractive power efficiency must be considered as main technical paradigm. The mobility power efficiency must be considered as main technical paradigm for free motion of the AGV without drawbar pull. Meanwhile, mobility power loss values indicated that 1.19–33.52 % of the AGV mobility power were wasted. These research results are advantageous for researchers, engineers, and supervisors concerned with the AGV not only operated in inside and outside robotic production lines of manufacturing sectors, but also employed in intelligent warehousing systems and wharf container terminals.

本文首次从概念上评价串联机器人运输系统中自动导引车（AGV）的新技术范式（移动动力效率）。根据AGV速度、轮胎气压、拖车载荷等运行参数的变化进行牵引操作。将机动动力效率（5.54 ~ 28.67%）与原有技术范式（牵引动力效率）的操作结果进行比较。从指数模型得到的可靠数据表明，最大移动动力效率下的AGV滑移值比最大牵引动力效率下的AGV滑移值高（平均为3.1倍）。由于AGV在牵引作业中的牵引能力比其机动能力更重要，因此必须以牵引功率效率为主要技术范式。移动动力效率是AGV实现无牵引力自由运动的主要技术指标。同时，移动功率损失值表明，AGV移动功率浪费了1.19 ~ 33.52%。这些研究成果对研究AGV的研究人员、工程师和管理人员都是有利的，AGV不仅可以应用于制造业的内外机器人生产线，还可以应用于智能仓储系统和码头集装箱码头。

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引用次数: 0

Machine learning-based estimation of agricultural tyre sinkage: A streamlit web application 基于机器学习的农用轮胎下沉估计：一个流光web应用

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2025-03-29 DOI: 10.1016/j.jterra.2025.101055

Rajesh Yadav, Hifjur Raheman

This study investigates the impact of wheel slip, drawbar pull, and soil strength on agricultural tyre sinkage under varying normal loads and inflation pressures. A controlled experiment was conducted with a 13.6–28 bias ply tyre using single wheel tester in a soil bin, measuring tyre sinkage, drawbar pull, and wheel slip across different conditions. Machine learning models, including Artificial Neural Network (ANN) and Support Vector Regression (SVR), were developed to predict tyre sinkage based on key variables, with hyperparameter tuning to optimize model performance. The SVR model outperformed the ANN model, with Coefficient of determination (R²) and Mean Squared Errors (MSE) as 0.997 and 0.8 for training; 0.981 and 4.3 mm for testing, respectively. The Mean Absolute Error (MAE) and Mean Absolute Percentage Error (MAPE) were also significantly lower for SVR, with MAPE values of 2.58 % (training) and 6.94 % (testing). The optimized SVR model was integrated into a Streamlit web application, offering a user-friendly platform for real-time predictions of tyre sinkage. This application had significant potential for enhancing tractive efficiency and minimizing soil degradation in agricultural practices. The study highlighted the efficacy of machine learning techniques in modelling tyre sinkage.

本文研究了在不同的正常载荷和充气压力下，轮滑、拉杆拉力和土壤强度对农用轮胎下沉的影响。以13.6-28斜交轮胎为试验对象，采用土仓式单轮测定仪对不同工况下的轮胎下沉、牵引力和车轮打滑进行了对照试验。利用人工神经网络（ANN）和支持向量回归（SVR）等机器学习模型，基于关键变量预测轮胎下沉，并通过超参数调整优化模型性能。SVR模型优于ANN模型，训练的决定系数（R2）和均方误差（MSE）分别为0.997和0.8；分别为0.981和4.3 mm。平均绝对误差（MAE）和平均绝对百分比误差（MAPE）的SVR值也显著降低，MAPE值为2.58%（训练）和6.94%（测试）。将优化后的SVR模型集成到Streamlit web应用程序中，为轮胎下沉的实时预测提供了一个用户友好的平台。在农业实践中，该应用具有显著的提高牵引效率和减少土壤退化的潜力。该研究强调了机器学习技术在模拟轮胎下沉方面的功效。

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引用次数: 0

Development of software for performance analysis of wheeled tractors 轮式拖拉机性能分析软件的开发

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2025-03-09 DOI: 10.1016/j.jterra.2025.101054

Igor Araujo Barbosa , Andre Luiz de Freitas Coelho , Daniel Marçal de Queiroz , Marconi Ribeiro Furtado Junior , Geice Paula Villibor

Understanding the relationship between the parameters that influence the traction capacity and fuel consumption of tractors is important for optimizing the performance of these machines. Mathematical simulations can be implemented in computer programs as an alternative to conducting numerous experimental tests under laboratory and field conditions, thereby reducing analysis, development time, and costs. Therefore, this study developed and validated a software tool to evaluate the performance of wheeled tractors in terms of traction capacity and fuel consumption. Mathematical models and a graphical user interface were implemented using Python. Field tests were conducted using an agricultural tractor to validate the software. Subsequently, simulations were performed for the same scenarios tested in the field, and the results were compared using statistical tests. The analyzed variables agreed closely in the experimental and simulated results. For front- and rear-wheel slips, the average absolute error was less than 2.50-point percent. Among the variables analysed, the best adjustment condition between the simulated and experimental results was verified for the engine angular velocity. In this case, the coefficient of determination was 0.96. For fuel consumption, the average absolute error was less than 0.75 L h⁻¹. The software successfully identified the operating conditions that optimized fuel efficiency.

了解影响牵引车牵引能力和油耗的参数之间的关系，对于优化牵引车性能具有重要意义。数学模拟可以在计算机程序中实现，作为在实验室和现场条件下进行大量实验测试的替代方法，从而减少分析、开发时间和成本。因此，本研究开发并验证了一个软件工具来评估轮式拖拉机在牵引能力和油耗方面的性能。数学模型和图形用户界面使用Python实现。使用农用拖拉机进行了现场测试，以验证该软件。随后，对现场测试的相同场景进行了模拟，并使用统计测试对结果进行了比较。所分析的变量与实验结果和模拟结果吻合较好。对于前轮和后轮打滑，平均绝对误差小于2.50%。在分析的变量中，验证了发动机角速度在模拟结果与实验结果之间的最佳调节条件。在本例中，决定系数为0.96。对于油耗，平均绝对误差小于0.75 L h−1。该软件成功识别了优化燃油效率的操作条件。

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引用次数: 0

Tractive performance analysis of the SRTT with respect to the spin count and the ASTM F1805 parameters SRTT在自旋数和ASTM F1805参数方面的牵引性能分析

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2025-02-22 DOI: 10.1016/j.jterra.2025.101046

Chaitanya Shekhar Sonalkar , Mohit Nitin Shenvi , Corina Sandu , Costin Untaroiu , Eric Pierce

Snow is a complex material. Its mechanical properties are influenced by various factors such as ambient temperature, solar radiation, compaction, metamorphism, etc., making it complex to model and predict them. To date, only a few studies have focused on predicting the traction coefficient as a function of ambient temperature, snow temperature, and snow compaction (CTI Index). These parameters are measured in accordance with The ASTM F1805 standard, which is used to evaluate the straight-line tractive performance of tires on snow.

This study introduces an additional parameter: spin count and investigates its effect on tractive performance. It was observed for the 16-inch SRTT that the traction coefficient of the control tire decreased progressively as the season advanced. The study aims to determine whether a similar trend applies to a 14-inch SRTT and correlates the tractive performance of individual control tires with ASTM F1805 parameters using regression analysis. Furthermore, it seeks to identify the most accurate regression algorithm for predicting the tractive coefficient and ranks the most influential parameters through feature selection.

In summary, this research examines the influence of spin count on tire traction, aiming to improve prediction models and identify key parameters influencing performance on snow.

雪是一种复杂的物质。其力学性能受环境温度、太阳辐射、压实作用、变质作用等多种因素的影响，建模和预测较为复杂。迄今为止，只有少数研究集中于预测牵引系数作为环境温度、雪温和雪压实度（CTI指数）的函数。这些参数是根据ASTM F1805标准测量的，该标准用于评估轮胎在雪地上的直线牵引性能。本研究引入一个额外的参数：自旋数，并探讨其对牵引性能的影响。对于16英寸SRTT，随着季节的推进，对照轮胎的牵引力系数逐渐减小。该研究旨在确定类似的趋势是否适用于14英寸SRTT，并使用回归分析将单个控制轮胎的牵引性能与ASTM F1805参数相关联。此外，它寻求识别最准确的回归算法来预测牵引系数，并通过特征选择对最具影响力的参数进行排序。综上所述，本研究考察了旋转次数对轮胎牵引力的影响，旨在改进预测模型并确定影响雪地性能的关键参数。

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引用次数: 0

Effects of grain breakage on hydraulic conductivity in granular soils under one-dimensional compression 一维压缩条件下颗粒破碎对颗粒土水力导率的影响

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2025-01-26 DOI: 10.1016/j.jterra.2025.101045

Faruk Sefi, Musaffa Ayşen Lav

Since hydraulic conductivity significantly influences the compression and deformation characteristics of granular terrains, this study examines the variations in permeability (k₂₀) of granular soils under one-dimensional compression. Two uniformly graded calcareous soil samples were tested: one with grain sizes of 9.50–12.70 mm, and another of 4.75–9.50 mm. Both samples were subjected to one-dimensional compression and constant-head permeability tests. Key soil properties affecting permeability (k₂₀), including absorption (n), specific surface area (S_s), relative density (D_r), void ratio (e), uniformity coefficient (C_u), effective grain size (d₁₀), and mean grain size (d₅₀), were analyzed. The virgin compression line (VCL) of the soil samples was identified within an oedometric stress (σ_VCL) range of 4.00–14.00 MPa, where the rate of change in soil properties affecting permeability was most pronounced. As oedometric stress increased, the instantaneous absorption (n_i) of the soil samples increased linearly, with a slope (α_n) of 0.055–0.061. Similarly, the instantaneous specific surface area (S_s,i) of the soil samples increased linearly, with a slope (α_s) of 1.229–1.388. In addition, practical equations were developed to predict the instantaneous relative density (D_r,i), instantaneous grain size distribution curve, and instantaneous permeability (k_20,i) of granular soils under one-dimensional compression.

由于导水率显著影响颗粒地形的压缩和变形特性，本研究考察了一维压缩下颗粒土的渗透率（k20）的变化。采用粒度为9.50 ~ 12.70 mm和4.75 ~ 9.50 mm的均匀分级石灰质土样品进行试验。两种试样均进行了一维压缩和恒水头渗透性试验。分析了影响渗透率（k20）的主要土壤特性，包括吸收量(n)、比表面积（Ss）、相对密度（Dr）、空隙比(e)、均匀系数（Cu）、有效粒径（d10）和平均粒径（d50）。在4.00 ~ 14.00 MPa的实测应力（σVCL）范围内，土样的原始压缩线（VCL）变化最为明显。随着实测应力的增大，土样的瞬时吸收（ni）呈线性增加，斜率（αn）为0.055 ~ 0.061。土样的瞬时比表面积（Ss,i）呈线性增加，斜率（αs）为1.229 ~ 1.388。建立了一维压缩条件下颗粒土瞬时相对密度（Dr,i）、瞬时粒径分布曲线和瞬时渗透率（k20,i）的实用方程。

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引用次数: 0

Climbing loose surfaces with steep slopes using a small, lightweight push-rolling rover with minimal configuration 使用一个小型的、轻量级的、配置最小的推推式漫游者爬上陡峭斜坡的松散表面

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2025-01-06 DOI: 10.1016/j.jterra.2024.101043

Daisuke Fujiwara , Qingze He , Kojiro Iizuka

Owing to the payload limitations, some organizations are focusing on small, lightweight wheeled rovers for planetary exploration. Planetary and lunar surfaces feature weak soils and slopes that pose mobility challenges for wheeled rovers. Studies have shown that push–pull locomotion can improve climbing ability. Such rovers lock one pair of wheels relative to the ground while driving the other like an inchworm. Conventional rovers have large masses ranging from 10 to nearly 1,000 kg. However, some studies are now focusing on small rovers of masses from under 1 kg to 20 kg. For such rovers, traveling on granular surfaces with steep slopes and low slips remains an experimental challenge. This study develops a small, lightweight push-rolling rover and evaluates its ability to climb steep slopes. To meet size requirements, the rover uses a minimal configuration. Experiments to measure resistance and drawbar pull forces during push-rolling revealed that a lugged wheel and dynamic sinking behavior using an intentional slip increased the total thrust forces. Additionally, travel experiments showed that the developed rover, with its optimal configuration, demonstrated a high climbing ability on slopes greater than 30°.

由于有效载荷的限制，一些组织将重点放在用于行星探测的小型、轻型轮式漫游者上。行星和月球表面的土壤和斜坡都很脆弱，这对轮式漫游者的机动性构成了挑战。研究表明，推拉运动可以提高攀爬能力。这种漫游者在像尺蠖一样驱动另一对轮子的同时，将一对轮子相对于地面锁住。传统火星车的质量从10公斤到近1000公斤不等。然而，一些研究现在集中在质量从1公斤到20公斤的小型探测器上。对于这样的漫游者来说，在陡坡和低滑动的颗粒状表面上行驶仍然是一个实验挑战。本研究开发了一种小型的、轻量级的推滚式漫游车，并评估了它爬陡坡的能力。为了满足尺寸要求，探测车采用了最小配置。通过测量推滚过程中的阻力和拉杆拉力的实验表明，拖轮和有意滑移的动态下沉行为增加了总推力。此外，运行实验表明，该月球车在最佳配置下，在大于30°的斜坡上表现出较高的爬坡能力。

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引用次数: 0

Effect of vertical load on track traction under different soil moisture content 不同土壤含水量下垂直荷载对轨道牵引力的影响

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics

Pub Date : 2024-12-20 DOI: 10.1016/j.jterra.2024.101044

Zhuohuai Guan, Dong Jiang, Min Zhang, Mei Jin, Haitong Li, Tao Jiang

Comprehensive analysis of the tractive performance is central to the design of tracked agriculture vehicles, particularly in challenging terrain conditions. To assess the effect of altering the track traction, the stress state of the track plate and grousers were analyzed based on the terramechanics. A simulation model based on the discrete element method (DEM) was proposed to explore the displacement of soil particles and stress distribution within the soil. Subsequently, a test bench was developed to investigate the effect of vertical load, soil moisture content, and grouser height on the maximum track traction. The results demonstrated that DEM simulation could reproduce the experimental results sufficiently well with a relative error of 3.5 % for maximum traction. The highest vertical stress is located beneath the grousers and the horizontal stresses are found to be higher near the bottom of the grousers. The vertical load exerts the most significant influence on track traction. Moisture content mainly affects the rate of increase in track traction at different vertical loads. At the moisture contents of 10 % and 15 %, and under vertical loads of 1000 N and 1500 N, the grouser height had little impact on maximum traction. However, at a soil moisture content of 25 % and under vertical loads of 2500 N and 3000 N, increasing the grouser height resulted in a notable enhancement of track traction.

对牵引性能的综合分析是履带式农业车辆设计的核心，特别是在具有挑战性的地形条件下。为了评估改变履带牵引力的效果，基于地形力学分析了履带板和履带的受力状态。提出了一种基于离散元法（DEM）的模拟模型来研究土粒的位移和土内应力分布。随后，建立了一个试验平台，研究了垂直荷载、土壤含水量和土鼠高度对最大轨道牵引力的影响。结果表明，DEM模拟可以很好地再现实验结果，最大牵引力的相对误差为3.5%。竖向应力最高的位置在土槽下方，水平应力在土槽底部附近较高。竖向荷载对轨道牵引力的影响最为显著。在不同垂直荷载作用下，含水率主要影响轨道牵引力的增加速率。在含水率为10%和15%，垂直荷载为1000 N和1500 N时，草身高对最大牵引力影响不大。而在土壤含水量为25%时，在2500 N和3000 N的垂直荷载下，增加土鼠高度可显著增强履带牵引力。

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引用次数: 0