Pellucidar

The stories initially involve the adventures of mining heir David Innes and his inventor friend Abner Perry after they use an "iron mole" to burrow 500 miles into the Earth's crust. Later protagonists include indigenous caveman Tanar and additional visitors from the surface world, notably Tarzan, Jason Gridley, and Frederich Wilhelm Eric von Mendeldorf und von Horst. In Burroughs' concept, the Earth is a hollow shell with Pellucidar as the internal surface of that shell. Pellucidar is accessible to the surface world via a polar opening allowing passage between the inner and outer worlds through which a rigid airship visits in the fourth book of the series. Pellucidar is populated by primitive people and prehistoric creatures, notably dinosaurs.