Performance Verification of Biomimetic Mole Robot (Mole-bot) for Efficient Underground Exploration

Abstract

Drilling technology is commonly used in resource exploration and foundation construction fields. In particular, new drilling technologies are being researched and developed for efficient exploration for finding new energy resources. However, it has not been able to deviate from the existing framework of the huge equipment size and complex process. In addition, it causes environmental pollution in the process of removing soil debris generated during excavation. Most of the resources emerging as new energy sources are distributed in shallow and wide areas; therefore, technology to efficiently explore them is required. In this paper, a biomimetic embedded drilling robot that mimics the physical structure and digging habits of moles is developed to overcome the limitations of the existing drilling systems. An expandable drill bit that mimics the excavation tool of an African mole-rat and an eco-friendly debris removal system that mimics the forelimbs of a European mole has been developed. The details of the waist and locomotion mechanisms are described in this paper. Through these mechanisms, it is possible to provide directionality and efficient moving under the ground. The feasibility of the mechanisms is evaluated through dynamic simulations, and the performance of the mole robot (Mole-bot) is verified through actual experiments.