CAVERNAUTE：一种用于洞穴探索的刚性可折叠室内飞艇空中系统的设计与制造流程
CAVERNAUTE: a design and manufacturing pipeline of a rigid but foldable indoor airship aerial system for cave exploration
AI总结：
受折纸和Kresling图案启发，研究团队设计出结合碳纤维外骨骼与UV树脂微晶格的可折叠室内飞艇，提出配套设计制造流程，通过仿真验证其在非结构化环境探索中的飞行自主性优势。
摘要：
飞艇以其独特的载荷能量比特性著称，在工程领域是一项极具吸引力的挑战。其建造与运行需要在材料与规则之间实现精妙平衡，因此成为备受关注的研究对象。它们是物理学、设计学与创新的独特交叉点，为未来的运输与探索领域提供了广泛的可能性。凭借长续航能力，飞艇适用于长期任务。但要在室内杂乱空间等复杂环境中运行，其膜结构和机电系统需要得到保护以免受撞击影响。本文提出了一种受折纸和Kresling图案启发的新型室内飞艇设计。该飞艇结构结合了碳纤维外骨骼和用于减震的UV树脂微晶格。我们的设计在增强机器人强度的同时，还赋予其通过折叠结构进入狭窄空间的能力——体积膨胀比最高可达19.8。为了优化飞艇的众多参数，我们提出了一套设计、制造与组装流程。该流程考虑了制造约束、目标部署区域的尺寸以及空气静力学特性，能够便捷快速地测试新构型。我们还介绍了将折纸与飞艇设计相结合所实现的独特功能，这些功能可降低导致任务失败的风险。我们通过完整仿真验证了该设计的潜力，仿真中采用了一种有效的控制策略，利用轻型机电系统优化非结构化环境探索任务中的飞行自主性。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
