Design of Forelimbs and Digging Mechanism of Biomimetic Mole Robot for Directional Drilling

Drilling technology has been used in various fields such as civil engineering and resource exploration. Recently, technology development aiming at space exploration and directional drilling skills has gained international attention and is being studied. Purpose of this research is developing a small embedded directional excavation robot which is not restricted in topography and can solve environmental problems. For this purpose, biomimetic mechanism of the robot’s forelimbs is designed that imitates the mole, then the excavation force was analyzed. Consequentially, the biomimeticity of the design was verified.