University of Twente Student Theses
Numerical simulations of the tip behavior of an earthworm robotic probe for soil monitoring purposes
Idrizi, R. (2024) Numerical simulations of the tip behavior of an earthworm robotic probe for soil monitoring purposes.
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| Abstract: | The industry of construction is increasing rapidly day by day, and the actual needs of people are expanding. Many developments in this field during the years have helped engineers simplify the process of construction. These developments tend to offer multiple benefits in terms of environmental sustainability, time efficiency, and cost. This report is focused on evaluating the best dimensions of a robotic probe, that tends to investigate the soil properties by using sensors. The robotic probe mimics the behavior of the earthworm, in order to tackle the penetration resistance caused by different types of soil compositions. The analysis in the report assesses the geometry of the probe tip by using COMSOL, a software capable of simulating geotechnical scenarios, and gives an overview of which dimensions of the tip are the most suitable and effective in terms of penetration resistance by analyzing three prototypes that are taken into account, each of them having a different tip height or aspect ratio, where the aspect ratio signifies the division of tip height against the diameter of the probe. The report begins by outlining the context and research motivation, also noting the benefits of this study to the current construction works. Following that, a literature review is carried out to explain in more detail the methods or theories implemented to apply the research. Moreover, the research dimensions, including the objective and questions, that are answered after the results are carried out, are set. Afterward, a methodology including how the simulations in COMSOL and experiments are performed is given. After executing the results, each alternative is described, and the effect that the physical properties have on the final outcome is analyzed by implementing a sensitivity analysis, where it is observed that various inputs have a significant effect on the final outcome, and for this reason, considerable attention should be given when collecting the input data. Furthermore, the results are accomplished both in elastic and plastic behavior, where elastic assumes a linear stress-strain relationship, while plastic also takes into account other parameters defining plasticity. The linear elastic behavior is then compared to the experimental observations, where it is seen that the error is approximately 15 %, as the simulations underestimate the experimental results. Following that, it is observed that the aspect ratio of 4 is the most suitable option, while the differences between the prototypes are not large. After describing every outcome, and pointing out the best dimensions achieved during the analysis, the report is summed up with a conclusion and discussions regarding the final results, and future research recommendations. |
| Item Type: | Essay (Bachelor) |
| Faculty: | ET: Engineering Technology |
| Programme: | Civil Engineering BSc (56952) |
| Link to this item: | https://purl.utwente.nl/essays/104033 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
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