University of Twente Student Theses
Experimental measurement of soil-intruder interactions for soft robots design
Tekin, A. (2024) Experimental measurement of soil-intruder interactions for soft robots design.
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| Abstract: | In this thesis, an adaptation of Cone Penetration Testing CPT is done to find the most efficient tip shape to penetrate in sand. Additionally, a setup is proposed for cavity expansion testing, which should examine expandable chambers in sand. These tests should be used to create a database to ultimately improve the design of the soil-intruding robot. The results of the penetration tests are quite interesting. It is found that the smaller the contact area between the tip and the sand is, the lower the penetration resistance is. This is seen in tip SD (Small Diameter) and AR4 (Aspect Ratio 4). As long as the tip AR4 has not reach base diameter of the body (30 mm), there is a relatively small penetration resistance. Furthermore, there is a strong relation in vertical penetration testing between the aspect ratio and the penetration resistance. AR4 requires the least amount of force to penetrate, followed by AR2.5 and finally AR1. The asymmetric tip performs worst in vertical penetration tests, along with AR1. However, that is not the case in horizontal penetration tests. The asymmetric tip with the beak facing up or down performs best in low depths. There is a clear difference between the beak facing to side, since the penetration resistance is highest among the orientations of the asymmetric tip. |
| Item Type: | Essay (Bachelor) |
| Faculty: | ET: Engineering Technology |
| Programme: | Civil Engineering BSc (56952) |
| Link to this item: | https://purl.utwente.nl/essays/104507 |
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