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Design of a biologically-inspired underwater burrowing robot with on-board actuation

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dc.contributor.advisor Amos G. Winter V. en_US
dc.contributor.author Dorsch, Daniel Scott en_US
dc.contributor.other Massachusetts Institute of Technology. Department of Mechanical Engineering. en_US
dc.date.accessioned 2015-07-17T19:53:12Z
dc.date.available 2015-07-17T19:53:12Z
dc.date.copyright 2015 en_US
dc.date.issued 2015 en_US
dc.identifier.uri http://hdl.handle.net/1721.1/97849
dc.description Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2015. en_US
dc.description Cataloged from PDF version of thesis. en_US
dc.description Includes bibliographical references (pages 67-68). en_US
dc.description.abstract The Atlantic razor clam (Ensis directus) burrows by contracting its valves, fluidizing the surrounding soil and reducing burrowing drag. Moving through a fluidized, rather than static, soil requires energy that scales linearly with depth, rather than depth squared. In addition to providing an advantage for the animal, localized fluidization may provide significant value to engineering applications such as vehicle anchoring and underwater pipe installation. This thesis presents the design of RoboClam 2, a self-actuated, radially expanding burrowing mechanism that utilizes E. directus burrowing methods. The device is sized to be a platform for an anchoring system for autonomous underwater vehicles. The scaling relationships necessary for the creation of this internally actuated burrowing robot are presented. These relationships allow for designing devices of different sizes for other applications, and describe optimal sizing and power needs for various size subsea burrowing systems. RoboClam 2 is a proof of concept iteration of a digging mechanism that utilizes localized fluidization. It will be used for testing digging parameters in a laboratory setting and validating the theory presented. en_US
dc.description.statementofresponsibility by Daniel S. Dorsch. en_US
dc.format.extent 68 pages en_US
dc.language.iso eng en_US
dc.publisher Massachusetts Institute of Technology en_US
dc.rights M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. en_US
dc.rights.uri http://dspace.mit.edu/handle/1721.1/7582 en_US
dc.subject Mechanical Engineering. en_US
dc.title Design of a biologically-inspired underwater burrowing robot with on-board actuation en_US
dc.type Thesis en_US
dc.description.degree S.M. en_US
dc.contributor.department Massachusetts Institute of Technology. Department of Mechanical Engineering. en_US
dc.identifier.oclc 913743859 en_US


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