the hypothesis
Circumnutation
Circumnutation is the process by which vines move in a cyclical helical pattern in order to scan their environment for areas to grip and grow on. Our goal was to adapt circunmutation to a robot to allow it to explore complex terrains without optical sensors, which can occasionally fail to accurately perceive their surroundings.
Search, Sense, Grip, Pull, Pivot, (Repeat)
The robot is designed to use tactile sensing to navigate through obstacles, mimicking the way vines search for and grasp objects to pull themselves up. A claw is used to pivot the robot so that it can begin searching again.
the design
This was the Full System CAD, which was iterated on many times before settling on a final design.
The robot includes an arm that extends using a scissor mechanism with a rigid gripper. This mechanism is driven and guided by a rack and pinion gear system.
Gripper Design
The original soft gripper was replaced with a rigid T-shaped gripper, allowing the robot to "hook" onto pegs and pull itself forward. This allowed for sensors to be placed on the finger without the need for flexibility.
Claw Design
We opted for a singular, bidirectional claw, eliminating the dual claw setup. This claw was designed to match the arm's full retraction length, facilitating smooth transfers and movement.
Want to check out another project?
Seal & Serve
Ever wanted a Capri-Sun but couldn't find one with flavours you like? This project makes custom pre-packaged drinks by pouring drinks into pouches and then heat-sealing them.