The design of scaled robotic end effectors to mimic razor clam burrowing

[摘要] This thesis reviews the design of two scaled mechanical end effectors that mimic the digging of Ensis directus, the Atlantic Razor Clam. Modeled after a 0.5x Ensis scale device, the end effectors are 1.0x and 2.0x Ensis scale. The end effectors will be coupled to a pneumatic robotic actuator to explore the nondimensional relationships governing the digging dynamics of razor clams in littoral substrates. Such dynamics could be exploited to construct novel mimetic engineering devices which would provide an order-of-magnitude improvement over existing subsea burrowing and anchoring technologies.

[发布机构] Massachusetts Institute of Technology