A Bionic Walking Wheel for Enhanced Trafficability in Paddy Fields with Muddy Soil.

Area of Science:

• Robotics and Biomimetics
• Soil Mechanics and Agricultural Engineering

Background:

• Trafficability in soft soils like paddy fields is a significant challenge for conventional wheels.
• Existing agricultural wheels often struggle with poor traction and excessive sinking in muddy conditions.

Purpose of the Study:

• To design and evaluate a bionic walking wheel inspired by wader feet for improved performance in soft, muddy soils.
• To enhance the traction and anti-sinking capabilities of agricultural machinery in challenging terrains.

Main Methods:

• A bionic walking wheel was designed mimicking wader foot morphology and movement, featuring double-row, staggered legs controlled by an internal cam.
• Multi-rigid-body dynamics (Adams View 2020) and coupled EDEM-ADAMS simulations were used to analyze movement and soil interaction.
• Experimental comparisons were made against a common paddy wheel to validate performance.

Main Results:

• Simulation confirmed smooth, interference-free movement of the bionic wheel's legs.
• The bionic walking wheel demonstrated a 113.56% increase in drawbar pull compared to a common paddy wheel.
• Enhanced anti-sinking performance and improved traction due to toe grip were observed.

Conclusions:

• The bionic walking wheel design offers a substantial improvement in trafficability for soft and muddy soils.
• The biomimetic approach, particularly the toe-grip mechanism, is effective in increasing traction.
• This study provides valuable insights for developing advanced walking mechanisms for agricultural and off-road applications.