This collection includes most of the ASU Theses and Dissertations from 2011 to present. ASU Theses and Dissertations are available in downloadable PDF format; however, a small percentage of items are under embargo. Information about the dissertations/theses includes degree information, committee members, an abstract, supporting data or media.
In addition to the electronic theses found in the ASU Digital Repository, ASU Theses and Dissertations can be found in the ASU Library Catalog.
Dissertations and Theses granted by Arizona State University are archived and made available through a joint effort of the ASU Graduate College and the ASU Libraries. For more information or questions about this collection contact or visit the Digital Repository ETD Library Guide or contact the ASU Graduate College at gradformat@asu.edu.
Underground robots, or "burrowbots," have the potential to revolutionize undergroundexploration and study subterranean environments. The objective of this thesis is to
preliminary explore a turning mechanism in burrowbots inside granular media. Building
on the recent progress on bio-mimetic self-burrowing robots, specifically, inspirations were
taken from both biological and engineering solutions for general angular…
Underground robots, or "burrowbots," have the potential to revolutionize undergroundexploration and study subterranean environments. The objective of this thesis is to
preliminary explore a turning mechanism in burrowbots inside granular media. Building
on the recent progress on bio-mimetic self-burrowing robots, specifically, inspirations were
taken from both biological and engineering solutions for general angular motion over a
single axis, inside granular media. The newly proposed robot draws turning inspiration
from hydraulic skeleton found in organisms like earthworm, incorporating a segmented
body with ball-socket joint connections that allow for greater flexibility and
maneuverability like in the human spine and, using the pivot-based turning mechanism
used in Tunnel Boring Machine. The focus of this thesis is on the bending and turning
aspects of the robot.
The design of the robot is described in detail, including the process used to assemble the
segments and ball joints and including the control mechanism to initiate turning. The
bending / turning capabilities of the robot are evaluated through physical testing in a
controlled environment. The robot's performance is assessed in glass bead with 2 mm
particle size. The results demonstrate that the robot's segmented design with the ball-socket
joint connections enable it to turn inside the particulate media. This ability makes it a
promising candidate for soil exploration tasks.
The thesis proposes an analytical framework for the amount of torque required to rotate an
elementary body (cylindrical rod) when compared to the segmented robot design, to
understand the relationship of torque and angle inside granular media.
In conclusion, this thesis initiates a preliminary study in the field of soil exploration through
the development of a robot with a unique design inspired by biology, exploring the
capabilities of an underground robot equipped with a turning mechanism that allows it to
change direction. The results demonstrate that the robot is able to turn inside the media
which can pave the way for future research and applications in the field of underground
robotics. (Keywords: preliminary, granular media, burrowbots, ball-joint connection, segmenteddesign)
