Study on the Interaction between Soil and the Five-Claw Combination of a Mole Using the Discrete Element Method

Table 2

DEM parameters used in the simulations.

Property	Value
Density of soil particles (kg/m^3)	2600 [31]
Density of steel (kg/m^3)	7820 [32]
Shear modulus of soil (Pa)	5 × 10^7 [33]
Shear modulus of steel (Pa)	7.9 × 10^10 [32]
Yield strength of the soil (Pa)	5.88 × 10^5 [17]
Poisson’s ratio of soil	0.3 [33]
Poisson’s ratio of steel	0.3 [32]
Coefficient of restitution of soil-soil	0.6 [31]
Coefficient of restitution of soil-steel	0.6 [31]
Coefficient of friction of soil-soil	0.57 [17]
Coefficient of friction of soil-steel	0.5 [17]
Coefficient of rolling friction of soil-soil	0.16 [17]
Coefficient of rolling friction of soil-steel	0.05 [17]
Cohesive energy density between soil-soil (J/m^3)	5000 [19]
—the stiffness factor	0.95 [17]
—the damping factor	0.05 [17]