The design of a fluidized bed for testing of a robotic burrowing device which mimics razor clams

Abstract

This thesis reviews the design of a fluidized bed test setup for testing digging kinematics of RoboClam, a burrowing device based on Atlantic Razor Clams. This test bed allows for in-lab testing in an environment covered by water, eliminating the need to test in the mud flats where razor clams live. Between each RoboClam test, water is pumped through a distributor plate, which suspends and fluidizes the glass bead media, leading to redistribution of the substrate and unpacking. The new fluidized bed system has two key improvements over the current system. It improves the redistribution that is needed between each test to reset the substrate. Before each test it also unpacks the beads, which prevents packing over time created by the current vibration redistribution system that causes changes to the soil mechanics. This system will enable continued testing of the current RoboClam device and facilitate the development of the next generation burrowing device.