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In this study, we propose and implement a bio-inspired self-drilling robot that combines a helical propulsion mechanism with a self-excited vibration system. The robot was experimentally evaluated in a controlled granular environment composed of polyethylene ellipsoidal particles, under varying rotational speeds (20–60 RPM), with and without vibration assistance. The experimental results indicate that vibration significantly enhances both the penetration capability and propulsion performance of the robot in granular media. Compared to the non-vibrating configuration, the use of vibration increased the maximum penetration depth by 100% and the maximum propulsion speed by up to 1200%. This improvement is primarily attributed to the vibration-induced reduction in inter-particle friction and the disruption of particle interlocking structures, which together reduce overall resistance to motion. The robot achieves optimal performance within the 40–50 RPM range, demonstrating a synergistic effect between rotation and vibration. The proposed design offers an efficient solution for drilling in complex granular environments and lays the foundation for developing compact robots for geological and planetary exploration.

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A Self-Drilling Robot Integrating Helical Propulsion and Vibration for Efficient Penetration in Granular Media

  • 会议论文

  • 发表日期：

    2026年

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  • Zhiqiang Song,
  • Weiyun Jiao,
  • Shuai Kang,
  • Longchuan Li

摘要

In this study, we propose and implement a bio-inspired self-drilling robot that combines a helical propulsion mechanism with a self-excited vibration system. The robot was experimentally evaluated in a controlled granular environment composed of polyethylene ellipsoidal particles, under varying rotational speeds (20–60 RPM), with and without vibration assistance. The experimental results indicate that vibration significantly enhances both the penetration capability and propulsion performance of the robot in granular media. Compared to the non-vibrating configuration, the use of vibration increased the maximum penetration depth by 100% and the maximum propulsion speed by up to 1200%. This improvement is primarily attributed to the vibration-induced reduction in inter-particle friction and the disruption of particle interlocking structures, which together reduce overall resistance to motion. The robot achieves optimal performance within the 40–50 RPM range, demonstrating a synergistic effect between rotation and vibration. The proposed design offers an efficient solution for drilling in complex granular environments and lays the foundation for developing compact robots for geological and planetary exploration.