This work introduces a novel approach for Titan exploration based on soft morphing aerial robots leveraging the use of flexible adaptive materials. The controlled deformation of the multirotor arms, actuated by a combination of a pneumatic system and a tendon mechanism, provides the explorer robot with the ability to perform full-body perching and land on rocky, irregular, or uneven terrains, thus unlocking new exploration horizons. In addition, after landing, they can be used for efficient sampling as tendon-driven continuum manipulators, with the pneumatic system drawing in the samples. The proposed arms enable the drone to cover long distances in Titan's atmosphere efficiently, by directing rotor thrust without rotating the body, reducing the aerodynamic drag. Given that the exploration concept is envisioned as a rotorcraft planetary lander, the robot's folding features enable over a 30$\%$ reduction in the hypersonic aeroshell's diameter. Building on this folding capability, the arms can morph partially in flight to navigate tight spaces. As for propulsion, the rotor design, justified through CFD simulations, utilizes a ducted fan configuration tailored for Titan's high Reynolds numbers. The rotors are integrated within the robot's deformable materials, facilitating smooth interactions with the environment. The research spotlights exploration simulations in the Gazebo environment, focusing on the Sotra-Patera cryovolcano region, a location with potential to clarify Titan's unique methane cycle and its Earth-like features. This work addresses one of the primary challenges of the concept by testing the behavior of small-scale deformable arms under conditions mimicking those of Titan. Groundbreaking experiments with liquid nitrogen at cryogenic temperatures were conducted on various materials, with Teflon (PTFE) at low infill rates (15-30%) emerging as a promising option.

翻译：本文提出了一种基于软体变形态空中机器人的土卫六探测新方法，利用柔性自适应材料实现。通过气动系统与肌腱结构的协同驱动，多旋翼机械臂的受控形变赋予探测器机器人全身栖落及在岩石、不规则或崎岖地形着陆的能力，从而开拓了新的探测方向。此外，着陆后，这些机械臂可作为肌腱驱动连续体操作器实现高效采样，同时气动系统负责吸附样本。所提出的机械臂通过无需旋转机体即可调节旋翼推力方向，显著降低空气阻力，使无人机在土卫六大气层中实现高效长距离飞行。鉴于该探测概念被构想为旋翼式行星着陆器，机器人的折叠特性可使高超声速气壳直径缩减30%以上。依托这一折叠能力，机械臂可在飞行中部分形变以穿越狭窄空间。在推进装置方面，基于计算流体力学(CFD)仿真验证的旋翼设计采用适配土卫六高雷诺数环境的涵道风扇构型。旋翼集成于机器人变形材料中，便于与环境实现平滑交互。研究聚焦于Gazebo环境中的探测仿真，以Sotra-Patera冰火山区域为重点——该区域具有揭示土卫六独特甲烷循环及其类地球特征的潜力。通过测试小型可变形机械臂在模拟土卫六条件下的行为，本文解决了该概念的首要挑战。研究人员在低温条件下以液氮开展了开创性实验，结果表明低填充率(15-30%)的聚四氟乙烯(PTFE)材料具有应用前景。