Development of self-burrowing probes that can penetrate soils without the aid of external reaction force from drill rigs and trucks would facilitate site characterization activities and deployment of sensors underneath existing structures and in locations with limited access (e.g., toe of dams, extraterrestrial bodies). Successful deployment of self-burrowing probes in the field will require several cycles of expansion, penetration, and contraction motions due to the geometric constraints and the increase in soil strength with depth. This study explores the multi-cycle performance of a dual-anchor self-burrowing probe in granular assemblies of varying density using discrete element modeling simulations. The simulated probe consists of an expandable top shaft, expandable bottom shaft, and a conical tip. The expansion of the shafts are force-controlled, the shaft contraction and tip advancement are displacement-controlled, and the horizontal tip oscillation is employed to reduce the penetration resistance. The performance of the self-burrowing probe in terms of self-burrowing distance is greater in the medium dense specimen than in the dense and loose specimens due to the high magnitude of anchorage force in comparison with penetration resistance. For all three soil densities, most of the mechanical work is done by tip oscillation; however, this accounts for a greater percentage of the total work in the denser specimen. Additionally, while tip oscillation aids in enabling self-burrowing to greater depths, it also produces a greater work demand. The results presented here can help evaluate the effects of soil density on probe prototypes and estimate the work requited for self-burrowing.
