0

Full Content is available to subscribers

Subscribe/Learn More  >

Multi-Substrate Burrowing Performance and Constitutive Modeling of RoboClam: A Biomimetic Robot Based on Razor Clams

[+] Author Affiliations
Amos G. Winter, V, Robin L. H. Deits, Daniel S. Dorsch, A. E. Hosoi, Alexander H. Slocum

Massachusetts Institute of Technology, Cambridge, MA

Paper No. DETC2010-29060, pp. 185-191; 7 pages
doi:10.1115/DETC2010-29060
From:
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME

abstract

The Atlantic razor clam (Ensis directus) reduces burrowing drag by using motions of its shell to fluidize a thin layer of substrate around its body. We have developed RoboClam, a robot that digs using the same mechanisms as Ensis, to explore how localized fluidization burrowing can be extended to engineering applications. In this work we present burrowing performance results of RoboClam in two distinctly different substrates: ideally granular 1mm soda lime glass beads and cohesive ocean mudflat soil. Using a genetic algorithm to optimize RoboClam’s kinematics, the machine was able to burrow in both substrates with a power law relationship between digging energy and depth of n = 1.17. Pushing through static soil has a theoretical energy-depth power law of n = 2, which means that Ensis-inspired burrowing motions can provide exponentially higher energy efficiency. We propose a theoretical constitutive model that describes how a fluidized region should form around a contracting body in virtually any type of saturated soil. The model predicts fluidization to be a relatively local effect, extending only two to three characteristic lengths away from the body, depending on friction angle and coefficient of lateral earth pressure, two commonly measured soil parameters.

Copyright © 2010 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In