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x distribution was uniform, convex base diameter was normal) and No. 8 (convex distribution was uniform, convex base DIAMETER=30 mm) were plotted in Fig. 6. It was found that the draft force of sample No. 7 was the lowest in this group. It was % lower than that of the smooth one. The draft force of sample No. 8 was % lower than that of the smooth one. Sample No. 1 was the highest. Fullsize image (5K) Fig. 6. Effects of convex distribution on draft force. . Effects of the height of the nonsmooth convexes Effects of nonsmooth convex height of samples were investigated under the same soil and testing conditions for sample No. 1 (smooth), No. 2 (convex HEIGHT=4 mm), No. 9 (convex HEIGHT=8 mm) and No. 10 (convex HEIGHT=2 mm) samples. The mean draft forces of the above samples are illustrated in Fig. 7. It was found that the draft force of sample No. 9 was the lowest in this group. It was % lower than that of the smooth one. The draft force of sample No. 10 was % lower than that of the smooth one. Sample No. 1 was the highest. Fullsize image (5K) Fig. 7. Effects of convex height on draft force. . Effects of experimental times on soil adhesion and forces Under the same soil and testing conditions as the above, sample Nos. 1 and 7 were conducted eight times. After every experiment was conducted, the surfaces of the tested samples remained the same. The soil adhesion on the surfaces was observed, and the draft forces and the vertical forces were measured, as shown in Fig. 8 and Fig. 9, respectively. A lot of soil adhered to the surface of sample No. 1, and a minimum amount of soil adhered to the surface of sample No. 7. It was found from Fig. 6 and Fig. 7 that the draft force and the vertical force of sample No. 7 were lower than those of sample No. 1. Due to the soil adhered to the surface of sample No. 1, the draft force increased with the repeated time, showing a phenomenon of cumulative adhesion. However, the draft force of sample varied smoothly because of little soil adhesion on the surface. Fullsize image (5K) Fig. 8. Relationship between draft forces and experimental times for two samples. Fullsize image (5K) Fig. 9. Relationship between vertical forces and experimental times for two samples. 4. Concluding remarks The draft forces of the designed samples with nonsmooth surface were lower than those of the designed sample with smooth surface. It was found that the designed samples with nonsmooth surface could reduce draft force in this work, that is, a properly designed nonsmooth surface can minimize the cutting resistance of the curved surface bulldozer blade. The factors affecting the cutting resistance of bionic bulldozer blades included nonsmooth convex numbers, convex base diameter, convex distribution and convex height. The sample with the largest convex base diameter had the smallest draft force. Under the same soil and the testing conditions, there was a lot of soil adhered to the surface of the smooth sample, but the nonsmooth sample had little. The draft force and the vertical force of the nonsmooth sample were lower than that of the smooth one. The dra