Mechanism analysis and structural design of a spiral drilling robot in loose media
LI Tianru
GUO Weizhong
ZHU Gaohan
Abstract：[Objective]Aiming at the lack of research on drilling robots in loose media and insufficient analysis of soil-spiral drilling mechanisms,a new type of spiral drilling robot was designed to meet the practical needs of efficient drilling and flexible obstacle avoidance.[Methods]Firstly,kinematics and dynamic models were established through the analysis of soil-spiral interaction to reveal the core mechanism of single spiral drilling deflection.Secondly,a left-right-left combined propulsion mechanism was designed to offset deflection,and a 3R1T hybrid mechanism was matched to realize spatial 3D steering.Thirdly,Matlab software was used to analyze the workspace of the hybrid mechanism to verify steering flexibility.Finally,a discrete element and multibody dynamics(DEM-MBD)coupled simulation model was established to comprehensively verify the mechanism performance.[Results]The simulation results indicate that the multi-spiral combination controls the deflection error of a single spiral within 3%,and the hybrid mechanism has 3R1T degrees of freedom and sufficient workspace.The robot drills 150 mm axially within 9 s,with the vertical displacement controlled within 35 mm,which effectively solves the problem of single spiral deflection and realizes efficient drilling and flexible steering in loose media,providing a reference for the design of similar robots.
Keywords：Loose mediumSoil-spiral mechanism analysisSpiral combinationHybrid mechanismDEM-MBD
Publication Date：2026-02-15
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：11( 61-70,145 )