Request pdf the mechanical design of snakearm robot snakearm robots with a slender and flexible body have many potential applications in aerospace, nuclear. Download seminar report for snake robots, abstract, pdf, ppt. Think of these as a whole bunch of joints running down the body, making the robot highly dexterous. The official platform from autodesk for designers and engineers to share and download 3d models, rendering pictures, cad files, cad model and other related materials. Expanded pvc plastic, steel rod, and plastic gears. Robotic snake could speed searchandrescue missions. The documentation is published in essence, a snake robot. Using the dynamics model and webots simulation, a ninelink snake robot is designed. Wolf is part of a 5year nih national institutes of health program at the university of pittsburgh school of medicine, where he holds an adjunct appointment. A novel architecture for modular snake robots aaron johnson, cornell wright, matthew tesch, kevin lipkin, and howie choset abstractwe have designed a snake robot, a hyperredundant serial linkage of many actuators, that uses a modular architecture.
The robot body has 16 degrees of freedom, enabling it to assume a number of configurations and to move using a variety of gaits. Wheeko is a wheeled snake robot developed at robotnor. By the end of 2008, he says, there should be a human trial with the snake robot. Software for designing mechanical systemsrobotic parts. Which software can be used to prototypedesign robot parts mechanical parts, body, gears, etc i have some crazy idea i would like to try quadripedal walking robot, animallike, but id like to design the mechanism and test to some degree the mechanism in some kind of simulator before i start wasting money on partsmaterials. Mechanical design and geometric gait implementation.
This wiki page contains discussions of the motion of a snake, mechanical design, electronic design and pic code. In the next chapter, the mathematical model of a direct kinematics of a three link snakelike robot was created. Problems often occur in confined and hazardous spaces, and whilst these spaces are difficult for humans to work in, a snake arm robot has no issue. After this, the snake robot was less wobbly, more stable and climbed steps as high as 38% of its body length with a nearly 100% success rate. The mechanical snake does not avoid obstacles on its way, but rather accommodates them by continuing its motion towards the target while in contact with the obstacles. It also includes the fourth, variable virtual link.
The servos are controlled by an arduino mega and powered by a 7. Opensource parametric snakerobotautodesk online gallery. Department of mechatronics engineering, jeppiaar engineering college, chennai. Sidewinder snake helps engineers design a better robot video. The snake has long been one of the most compelling demos out of carnegie mellons robotics lab. In the paper, a snakelike robot based on cylinder module is developed.
Design and motion planning of a mechanical snake ieee. Miscellaneous mechanical engineering design art engineering. The main reason i started this project is because i wanted a fast way to produce a snake robot that was easy to build and deploy, but without the need of drastic changes if a component of the robot changes. Also, a snake robot is a highly articulated robot manipulator arm with the capability of providing its own propulsion. Snakes help engineers design search and rescue robots.
Dec, 2014 which is a sort of 2d physics engine that allows you to draw and simulate mechanical things quickly and effectively. Which software can be used to prototype design robot parts mechanical parts, body, gears, etc i have some crazy idea i would like to try quadripedal walking robot, animallike, but id like to design the mechanism and test to some degree the mechanism in some kind of simulator before i start wasting money on partsmaterials. Modular snake robot oriented open simulation software ieee xplore. Carnegie mellon snake robot used in search for mexico quake. The article deals with the kinematics of a three section snakelike robot. Prototyping mechanical motion with algodoo youtube. Sidewinder snake helps engineers design a better robot video a team led by georgia tech researchers tests sidewinder snakes, both real and robotic, to learn how they move on a sandy surface.
Smart materialactuated flexible tendonbased snake robot show all authors. If you want to know more about this project, visit my blog. The flexible snake robot is a novel idea in the field of robotics. The first snake robot is called wheeko and was developed to enable experiments related to. Webots software is used for simulation and to experimentally investigate the. Sep 24, 2018 the computeraided design cad files and all associated content posted to this website are created, uploaded, managed and owned by third party users. While not traditional snake robots, the millibots developed at carnegie mellon university have a modular design as well 6. The following sections describes a complete mechanical and software architecture realizing screwpropelled, spherically jointed, snakelike and serpentine robot. This book approaches the subject at a very good pace for me. How to make a rc snake toy at home from cardboard diy snake robot duration. Our snake robot aiko demonstrating obstacleaided locomotion. Im a software guy with a strong mechanical intuition but little formal training in mechanics. Arduino based snake robot controlled using android.
The robot is made up of several body segments and a head. These capabilities have spurred an extensive research activity investigating the design and control of snake robots. The need for usar robots was first recognized in 1985 after the mexico city earthquake, but it was only at the world trade center site in the aftermath of 911 that. On the surface, one can see a snake, say, on a hike in the woods and then build an elongated mechanical creature.
Some are similar to a snakes natural undulations, but others take advantage of the robots unique mechanical characteristics, such as its ability to roll. In the introductory part of the article, the main advantages and application possibilities of a snakelike movement in practice are mentioned. Any number of additional bots can be added with no specific change in architecture design. Robotnor has conducted research on snake robots for several years and is getting closer to realizing the potential of these mechanisms. The snake can be controlled by an android app using bluetooth. Design and architecture of the unified modular snake robot.
Request pdf the mechanical design of snake arm robot snake arm robots with a slender and flexible body have many potential applications in aerospace, nuclear and surgery industry. How carnegie mellons snake robot became the multilegged. Highly recommended to me by multiple people who needed to dive into the mechanical aspects of robotics for the first time. Jun 19, 2015 lets explore how to design, build, program, and then play with our own 3d printed robot arms. Department of mechanical engineering and institute for systems research. Instead, its a design for an arm on a larger machine. The robot prototype consists of eleven modules that are connected by revolute joints. Ieee xplore, delivering full text access to the worlds highest quality technical literature in engineering and technology.
Sidewinder snake helps engineers design a better robot. The arduino controller controls the entire system as the program coded. Proposed robot scheme with 5 dof and dynamic modelling using maple software. How to make a robotic snake slither like a real one. Snake robots can go places that other remotecontrolled autonomous devices cannot. Lets explore how to design, build, program, and then play with our own 3d printed robot arms. To improve orisnake, the researchers plan to optimize the mechanical design of the robot and increase the velocity with different motors. In particular it avoids using wheels to achieve locomotion by implementing a more advanced segment design.
In the paper, a snake like robot based on cylinder module is developed. Compared to snake robots from other studies, lis snake robot was speedier and more stable than all but one, and even came close to mimicking the actual snake s speed. A snakebot, also known as snake robot, is a biomorphic hyperredundant robot that resembles a biological snake. Instead of modules equipped with identical sensors, the. Snake robot, hyperredundant robot, gait planning, dynamics and control. The development of two snake robots is described and both are used to provide experimental validation of many of the theoretical results.
The design and implementation of a snake robot is the con. The first snake robot is called wheeko and was developed to enable experiments related to snake robot. Inspired by the reptile of the same name, its long, skinny build makes it perfect for squeezing. Robotic snake could speed searchandrescue missions innovate.
Design and architecture of a series elastic snake robot. Carnegie mellon snake robot used in search for mexico. The traditional robotics concepts are modified in this work, in which each of the links acts as a threedimensional 3d joint. Additionally, each module includes a highspeed ethernet communications bus, internal imu, modular electromechanical interface, and arm based onboard control. We propose an approach to soft robot control in which the robot is designed to physically realize a shape space mechanically predefined body.
Mechanical design and geometric gait implementation abstract. Currently, the robot snake is best suited to soil, sand, and flat surfaces. Snake robot locomotion patterns for straight and curved. Future applications of such robots include search and rescue, inspection and maintenance, and subsea operations. Gupta department of mechanical engineering and institute for systems research university of maryland college park, maryland 20742 abstract body undulation used by snakes and the physical architecture of a snake body may offer. In the video, off to the left, you can see the arm needs to be connected to something that can do. Snake robots are a class of hyperredundant mechanisms that locomote. The snake contains twelve segments motivated by servo motors and joined with metal brackets. Jul 06, 2017 the snake has long been one of the most compelling demos out of carnegie mellons robotics lab. A robot as agile as a snake can explore almost any hidden nook and cranny. With autodesk gallery, you can view and present 3d model and file easily online. The mechanical design of snakearm robot request pdf. The computeraided design cad files and all associated content posted to this website are created, uploaded, managed and owned by third party users. Problems often occur in confined and hazardous spaces, and whilst these spaces are difficult for humans to work in, a snakearm robot has no issue.
Impact proposed system the snake robot intended to be designed will move around in a serpentine motion and theoretically speaking is the best movement for any robot to have. S7 is an experimental prototype that is still under development. Which is a sort of 2d physics engine that allows you to draw and simulate mechanical things quickly and effectively. Snake robot seminar report, ppt, pdf for electrical. In the coming posts we will step through the process of modeling 3d parts using computer aided drafting, or cad for short. Snake robots come in many shapes and sizes, from the four stories long, earth quake snakebot developed by sintef, to a medical snakebot developed at carnegie mellon university that is thin enough to maneuver around organs inside a human chest cavity. Each body segment contains a rc servo, which is controlled by a pic microntroller located in the head of the snake robot. Carnegies snake robot is a modular machine made of 16 motors known as actuators. Oct 16, 2014 sidewinder snake helps engineers design a better robot video a team led by georgia tech researchers tests sidewinder snakes, both real and robotic, to learn how they move on a sandy surface. With the authors design and motion planning, each link has a different number of degreesoffreedom in each motion stage, providing the robot with great adaptability even.
These design requirements have led to the development of the versatile super servo which proactively preserves itself as it monitors its internal status. Like snake robot modules, these small, batteryoperated robots work together in groups to achieve a larger goal. As a high redundancy system with high stability and adaptability, disaster rescue robot is widely used in collapsed buildings for search and rescue work. Carnegie mellon researchers mimic the sidewinder to make their robot snake scoot like crazy without the benefit of arms or legs. This paper details the design and architecture of a series elastic actuated snake robot, the sea snake. The work underlying this book includes the development of two mechanical snake robots. Fu q, li c 2020, robotic modeling of snake traversing large, smooth obstacles reveals stability benefits of body compliance, royal society open science, 7, 191192 supplementary video 1 visit. Explore snake robot with free download of seminar report and ppt in pdf and doc format. The following sections describes a complete mechanical and software architecture realizing screwpropelled, spherically jointed, snake like and serpentine robot.
Each cad and any associated text, image or data is in no way sponsored by or affiliated with any company, organization or realworld item, product, or good it may purport to portray. The robot consists of a series chain of 1dof modules that are capable of torque, velocity and position control. Take the transition from snake to snake robot as an example. The book is a complete treatment of snake robotics, with topics ranging from mathematical modelling techniques, through mechatronic design and implementation, to control design strategies. Snake robots is a novel treatment of theoretical and practical topics related to snake robots. Design of a modular snake robot cornell wright, aaron johnson, aaron peck, zachary mccord, allison naaktgeboren. The head of the robot includes lights and a video camera. Environmental issues actuators analysis design and construction employee assistance programs engineering design methods polymers robotics industry robots equipment and supplies. Special degree program university of colombo, advisor. Kinematic analysis of planar snakelike robot mechanism. Issues regarding the workspace and design of general cablebased planar robots were addressed by fattah and agrawal, in which the platform was not only suspended, it was also. Smart materialactuated flexible tendonbased snake robot. Pdf snake robots maneuver in complex environments and exhibit large. Our design considers size, power, weight, and tradeoffs among these criteria.