Mechanism Design of a Mole-Inspired Robot Burrowing with Forelimbs and Incisors for Planetary Subterranean Exploration

With the continuous development of planetary exploration, the significance of penetrating deep planetary soil has become increasingly prominent. Inspired by the burrowing mechanism of moles, this study designed a mole-inspired burrowing robot. First, the structural characteristics of mole burrowing with forelimbs and incisors were analyzed, providing important references for robot design. Subsequently, the overall structural plan of the robot was proposed, and its burrowing mechanism was detailed. Finally, the burrowing test of the forelimb mechanism and the incisor mechanism were conducted in a simulated soil environment. The results showed that the robot exhibits excellent burrowing performance.