Locomotion in granular media poses significant challenges due to high resistance, heterogeneous interactions, and lift forces arising from pressure gradients. This paper presents a novel burrowing robot that combines dual-helix propulsion with a high-frequency vibration mechanism to improve mobility in such environments. The robot is equipped with a wedge-shaped head and lateral fins to mitigate lift forces and enhance vertical stability. A series of comparative experiments under varying configurations—vibration on/off and fin presence/absence—were conducted to evaluate the effects of each component. Results show that high-frequency vibration significantly reduces resistance by locally fluidizing the medium, while the lateral fins effectively suppress lift-induced drift. The integrated system demonstrated improved locomotion efficiency, consistent forward progression, and enhanced robustness against jamming. This work provides a practical and scalable approach for robotic locomotion in unstructured particulate terrains.