Razor clam-inspired burrowing in dry soil |
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| Institution: | 1. State Key Laboratory of Ocean Engineering, School of Naval Architecture, Ocean & Civil Engineering, Shanghai Jiao Tong University, Shanghai, China;2. École Centrale de Nantes, CNRS, Nantes, France;3. School of Physics, Astronomy & Computational Sciences, George Mason University, Fairfax VA, USA;1. School of Civil and Resource Engineering, The University of Western Australia, 35 Stirling Highway, Crawley WA 6009, Australia;2. School of Mechanical and Chemical Engineering, The University of Western Australia, 35 Stirling Highway, Crawley WA 6009, Australia;1. Civil and Environmental Engineering Department, Imperial College London, UK;2. Formerly at Department of Civil and Environmental Engineering, UPC, Barcelona Tech, Spain;3. Division of Geotechnical Engineering and Geosciences, Department of Civil and Environmental Engineering, UPC Barcelona Tech, Spain;1. Department of Civil Engineering, University of Manitoba, Winnipeg, MB R3T 5V6, Canada;2. Department of Civil & Environmental Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA;3. Department of Civil Engineering, University of Manitoba, Winnipeg, MB R3T 5V6, Canada |
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| Abstract: | RoboClam is a biomimetic burrowing robot that imitates the valve expansion/contraction digging pattern of the Atlantic razor clam, Ensis directus, to dig into submerged soil using an order of magnitude less energy than would be required to push into the soil with brute force. This paper examines whether it would theoretically be possible to use the same method to dig into dry soil. The stress state of the soil around the contracting robot was analyzed, and a target zero-stress state for dry soil digging was found. Then, the two possible modes of soil collapse were investigated and used to determine how quickly the robot would have to contract to achieve the target zero-stress state. It was found that for most dry soils, a RoboClam-like device would have to contract in 0.02 s, a speed slightly faster than the current robot is capable of, but still within the realm of possibility for a similar machine. These results suggest that the biomimetic approach successfully used by RoboClam to dig into submerged soil could feasibly be used to dig into dry soil as well. |
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| Keywords: | Biomimetics Burrowing Granular mechanics |
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