笔者将在此基础上．推导出履带式拖拉机的车辙大小的理论公式及其沿疏松土地行走时的运动阻力系数。
Based on the achievements obtained. the theoretic formula that determine the rut size of the caterpillar tractor and the friction drag coefficient of motion was deduced.
转向是履带式车辆漫游时的一种基本运动。
因而它能实现三种运动模式，即蛇形蠕动、履带形滚动和四足步行运动。
Therefore the robot can execute three motion patterns- snake-like creeping, caterpillar-like rolling and four-legged walking.
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