Abstract:This paper proposes a methodology to investigate soil penetration requirements to extract specifications for designing robotic soil excavators and explorers. To this purpose, a three-dimensional (3-D) numerical model based on the Discrete Element Method (DEM) is proposed to simulate an intruder penetration and its interaction with the environment. In this study, the penetration process was analyzed as a function of the intruder diameter to median particle size ratio (Droot/D50), highlighting important differen… Show more
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