Gravity effects on a bio-inspired self-burrowing probe in granular soils

Abstract: In recent years, self-burrowing probes have been studied since they can be suitable for soil monitoring in locations with limited access such as outer space bodies and underneath existing structures. We study the performance of a self-burrowing probe under different gravity conditions, from low gravity (i.e., 1/6g, 1/3g and 1g) to high gravity (i.e., 5g, 10g and 15g), specifically in terms of penetration distance and energy consumption. Results show that the probe reaches efficient penetration in all gravity conditions and that it achieves larger penetration distances in high gravity conditions. However, the penetration efficiency, shown as unit energy per meter, is higher in low gravity. Additionally, we prove that a simple dimensional analysis provides reasonable scaling factors for first order effects in forces, velocities and energy. The findings in this study give confidence to the potential use of self-burrowing probes in campaigns of soil testing and sensor deployment in outer space or centrifuges in which the gravity conditions can differ from Earth.