Eversion Robot

Eversion robot's idea is taken from vine-like plants, plants that grow continuously. Eversion robot will be growing up to its estimated point without carrying all its hardware with itself rather than this; Eversion robot's soft body will be moving and the hardware will be placed in one place th

Project Title

Eversion Robot

Project Area of Specialization

Mechatronics Engineering

Project Summary

Eversion robot's idea is taken from vine-like plants, plants that grow continuously. Eversion robot will be growing up to its estimated point without carrying all its hardware with itself rather than this; Eversion robot's soft body will be moving and the hardware will be placed in one place that doesn't need to move along with the soft body. This robot can pass through difficult environments, enter gaps one-forth than its original length and the soft body can grow 10 times more than its original length. As a result Eversion robot can be used in rescue (searching for people in collapsed buildings, deployed environments).

Project Objectives

• Design and fabricate a soft everting robot for the exploration of challenging spaces.
• To control the motion and teleoperation of everting robot design
• To fulfill the need for potential applications of robotics i.e. inspection, search in a difficult constrained environment.
• To control the motor speed and direction along with pressure regulation and controlled growth

Project Implementation Method

The soft body of the vine robot is made of four airtight
tubes that are flexible but not stretchable: one central main
the body tube and three smaller actuator tubes that are placed around the main body, tube Growth is achieved by pressurizing the main body tube. One end of the main body tube is fixed to an opening in a rigid pressure vessel and the other end of the tube is folded inside of itself and wrapped around a spool inside the pressure vessel. Control of the vine robot body’s motion is enabled by the mechanical, electrical, and pneumatic components of the base station

Reversible steering of the robot body is achieved using
the three actuator tubes, each of which is partially heat
sealed at regular intervals to create a series pouch motor soft
the pneumatic actuator that shortens when inflated,  These actuators are based on the pouch motors and are arranged in series like the series pneumatic artificial muscles  yielding
a design that is easily manufactured at long lengths and easily attached to the main body tube. We chose the actuator tube diameters to be as large as possible while allowing a small gap between neighboring actuators. The three series pouch motors are attached lengthwise to the exterior of the main body using double-sided tape equally spaced around the circumference of the main body tube. When one of the series pouch motors is pressurized, the length change that it produces causes the entire robot to curve in the direction of that actuator

Benefits of the Project

• safe machine-human interaction
• safe exploration of dangerous environments, environments with the presence of nitrogen gas
• search and rescue of people under demolished buildings

Technical Details of Final Deliverable

We present an eversion robot that is teleoperated using a designed flexible joystick,  long enough for use in navigation tasks with that it is portable for use in the field.

Final Deliverable of the Project

Hardware System

Core Industry

Security

Other Industries

Others

Core Technology

Robotics

Other Technologies

Others

Sustainable Development Goals

Decent Work and Economic Growth, Industry, Innovation and Infrastructure

Required Resources

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