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Soil compressive strength and shear strength are important problems in the field of agricultural engineering, and vehicle subsidence depth and driving resistance are closely related with soil pressure and shear properties. In order to improve the testing range of bevameter independent of large equipment and solve the dispersion and diversity of test methods about terramechanics parameters, a comprehensive tester of soil pressure, shear and adhesion both indoor and outdoor was designed. Penetration test was independent of torsion process and did not impact relatively, realizing the testing and data processing independently. Choosing the drive motor or manually driven by screw lift transmission, the test instrument can obtain high range and accurate operating control. The system with cable displacement sensor and force torque sensor can take real-time dynamic travel information about soil sinkage depth, soil shear strength, and soil resistance of bearing pressure and other information, realizing the automation of computer remote control and data acquisition and processing. Shearing tests of wet compacted sand got results that soil cohesion was 3.14kPa, internal friction angle was 38.2°;the plate loading test of wet compacted got results that the sand deformation index was 0.963, the cohesive deformation modulus was 178.73kN/mn+1 and friction deformation modulus was 11908.40kN/mn+2. The results showed that the comprehensive test instrument provided experimental basis and played a good effect on the research on load subsidence curve and shear stress distribution. Laboratory sand tests showed that the instrument had high reliability and practicability. The instrument met the requirements of test for a large range, multi dimension and unity of terramechanics parameters.