{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/54526"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/54526","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"The design of scaled robotic end effectors to mimic razor clam burrowing","abstract":"This thesis reviews the design of two scaled mechanical end effectors that mimic the digging of Ensis directus, the Atlantic Razor Clam. Modeled after a 0.5x Ensis scale device, the end effectors are 1.0x and 2.0x Ensis scale. The end effectors will be coupled to a pneumatic robotic actuator to explore the nondimensional relationships governing the digging dynamics of razor clams in littoral substrates. Such dynamics could be exploited to construct novel mimetic engineering devices which would provide an order-of-magnitude improvement over existing subsea burrowing and anchoring technologies.","abstract_html":"This thesis reviews the design of two scaled mechanical end effectors that mimic the digging of Ensis directus, the Atlantic Razor Clam. Modeled after a 0.5x Ensis scale device, the end effectors are 1.0x and 2.0x Ensis scale. The end effectors will be coupled to a pneumatic robotic actuator to explore the nondimensional relationships governing the digging dynamics of razor clams in littoral substrates. Such dynamics could be exploited to construct novel mimetic engineering devices which would provide an order-of-magnitude improvement over existing subsea burrowing and anchoring technologies.","abstract_has_math":false,"creators":["Bollini, Mario Attilio"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Dept. of Mechanical Engineering.","school":null,"contributors":[],"advisors":["Anette Hosoi."],"committee_chairs":[],"committee_members":[],"year":2009,"date_issued":"2009","date_published":"2009","updated_at":"2026-07-22T22:21:52Z","subjects":["Mechanical Engineering."],"languages":["eng"],"rights":["M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. 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