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Computer Science > Robotics

arXiv:2409.07591 (cs)
[Submitted on 11 Sep 2024]

Title:CAVERNAUTE: a design and manufacturing pipeline of a rigid but
foldable indoor airship aerial system for cave exploration

Authors:Catar Louis, Tabiai Ilyass, St-Onge David
View a PDF of the paper titled CAVERNAUTE: a design and manufacturing
pipeline of a rigid but foldable indoor airship aerial system for
cave exploration, by Catar Louis and 2 other authors
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    Abstract:Airships, best recognized for their unique quality of
    payload/energy ratio, present a fascinating challenge for the
    field of engineering. Their construction and operation require a
    delicate balance of materials and rules, making them a compelling
    object of study. They embody a distinct intersection of physics,
    design, and innovation, offering a wide array of possibilities
    for future transportation and exploration. Thanks to their
    long-flight endurance, they are suited for long-term missions. To
    operate in complex environments such as indoor cluttered spaces,
    their membrane and mechatronics need to be protected from
    impacts. This paper presents a new indoor airship design inspired
    by origami and the Kresling pattern. The airship structure
    combines a carbon fiber exoskeleton and UV resin micro-lattices
    for shock absorption. Our design strengthens the robot while
    granting the ability to access narrow spaces by folding the
    structure - up to a volume expansion ratio of 19.8. To optimize
    the numerous parameters of the airship, we present a pipeline for
    design, manufacture, and assembly. It takes into account
    manufacturing constraints, dimensions of the target deployment
    area, and aerostatics, allowing for easy and quick testing of new
    configurations. We also present unique features made possible by
    combining origami with airship design, which reduces the chances
    of mission-compromising failures. We demonstrate the potential of
    the design with a complete simulation including an effective
    control strategy leveraging lightweight mechatronics to optimize
    flight autonomy in exploration missions of unstructured
    environments.

Comments: 36 pages, 21 figures
Subjects: Robotics (cs.RO); Other Condensed Matter (cond-mat.other)
Cite as:  arXiv:2409.07591 [cs.RO]
          (or arXiv:2409.07591v1 [cs.RO] for this version)
          https://doi.org/10.48550/arXiv.2409.07591
          Focus to learn more
          arXiv-issued DOI via DataCite

Submission history

From: Louis Catar [view email]
[v1] Wed, 11 Sep 2024 19:47:02 UTC (11,007 KB)
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    aerial system for cave exploration, by Catar Louis and 2 other
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