University of Twente Student Theses
Numerical Simulations to Evaluate The Steering Capacities of Soft Robotics Probe in Dry Sand
Guo, L. (2024) Numerical Simulations to Evaluate The Steering Capacities of Soft Robotics Probe in Dry Sand.
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| Abstract: | This thesis investigates the steering capacities of a rigid tip designed for a soft robotic probe in dry sand, emulating the penetration mechanism inspired by earthworms. Using the Finite Element Method (FEM) within COMSOL Multiphysics, the study explores how variations in soil parameters and probe configurations affect effective stress distributions. The research focuses on two primary scenarios: penetration angles and bending maneuverability. Sensitivity analyses were conducted to assess the impact of soil density, Young’s modulus, and bending displacement on effective stress. Findings indicate that while changes in Young’s modulus and bending displacement significantly affect effective stress, while variations in soil density do not. This suggesting potential limitations in COMSOL’s inbuilt calculation methods. The results provide insights for designing more efficient and durable rigid tips for soft robotic probes in soil exploration. |
| Item Type: | Essay (Bachelor) |
| Faculty: | ET: Engineering Technology |
| Programme: | Civil Engineering BSc (56952) |
| Link to this item: | https://purl.utwente.nl/essays/104489 |
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