Continuum Locomotive Alternative for Robotic Adaptive-exploration (CLARA)

Schroeder, Blaise; Pignone, Derik

Student Work

Continuum Locomotive Alternative for Robotic Adaptive-exploration (CLARA)

Public Deposited

This project follows in the footsteps of its predecessor project submitted in 2022 and aims to implement various mechanical and functional improvements in the robot. The previous year’s project created a salamander-inspired soft robot for use in the inspection and exploration of pipe networks capable of maneuvering in a variety of pipe shapes, sizes, and configurations. The robot features an origami body segment of laser cut Dura-Lar (a hybrid of mylar and acetate) folded based on a Yoshimura crease pattern. This pattern allows the body segment to deform and bend in a manner controllable by three cable winch mechanisms, providing 6 degrees of freedom. The robot locomotion is achieved with a three-segment wheeled mechanism on a suspension-based linkage. These segments can expand and contract to provide variable force on the interior surface of the pipe, allowing for variable grip. This iteration of the project improved upon multiple systems of the robot to provide better functionality, robustness, and overall quality. New wheels were fabricated out of silicone for better grip. A new casing structure was introduced to improve rigidity and protection of vital robotic components, as well as reduce the overall robot profile. The new system uses an ESP32-Cam module to provide live footage to the operator. Relocation of actuators allowed for a maximum bending angle of approximately 140 degrees, an approximate 60% increase over previous iterations. This project expands upon the previous project’s foundations, providing further support and functionality for future research and applications in pipe network exploration and inspection, and possible payload integration.

This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

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