Development and Optimization of Screw Bodied Design for Burrowing Robotic Applications in Loose Sand

This research article studies the effects of screw design parameters namely, pitch, height, and diameter on the torque requirements for burrowing in loose sand. Field test data was collected through series of experiments conducted in the sand dunes of the western region of Saudi Arabia. The study analyzed nine different screw shells; each designed with distinct variations in these parameters. These experiments seek to elucidate the relationship between design parameters and the torque needed to achieve certain depths in loose sand. By investigating the behavior of these screw designs, this study contributes to the understanding of optimal configurations of screw body for digging with minimal torque requirement. The findings indicate that specific combinations of pitch, height, and diameter yield superior performance, shedding light on crucial factors for designing effective burrowing mechanisms. Among the tested shells it was found that the ideal design parameters are 37mm pitch, 125mm height, and 75mm diameter which draw a torque of 5 N.m at 50 cm depth. This work paves the way for advancements in self-burrowing robot technology, providing insights that will aid in body design and information to be used for motor selection and electronics sizing.