Expanding Head for a Soft-Burrowing Robot

Abstract

The main objectives of this research are to design, build, and test a linkage-based morphing head for a tiny underground burrowing robot, inspired by the burrowing action of earthworm. The suggested design employs a four-bar linkage system in conjunction with a central slider to accomplish a two-step penetration-expansion process, taking inspiration from naturally occurring burrowing organisms. Assembling and ensuring successfully the possibility of its motion are the main goals in this Research. Besides, reducing soil resistance, improving energy efficiency, and facilitating efficient navigation through cohesive soil will be also a goal aimed at in the future. SolidWorks were used to create a comprehensive CAD model, which was then used to fabricate the prototype through 3D printing and hand machining methods. Load frames will be used in mechanical testing to measure penetration and expansion forces in representative media in the near future. Testing involved three key steps: (1) measuring the force required to open the robot head, (2) pushing the robot into gelatin with the head fully open, and (3) inserting the robot with the head fully closed, then expanding it. The outcome of the testing is expected to show superior results in terms of force reduction and energy efficiency compared to penetrating with the head fully expanded. These findings also suggest that the second-generation morphing head design offers significant performance improvements over its predecessor.