Snake robot

This Project is to design a snake-like robot that can provide the locomotion as the real biological snake, and possessed the ability to move arround the obstacles, or find another alternative ways. Snake-like robot is a biomorphic hyper redundant robot that resembles a snake.The shape and

Project Title

Snake robot

Project Area of Specialization

Robotics

Project Summary

This Project is to design a snake-like robot that can provide the locomotion as the real biological snake, and possessed the ability to move arround the obstacles, or find another alternative ways. Snake-like robot is a biomorphic hyper redundant robot that resembles a snake.The shape and sizes of the snake-like robot is depend on its own application, differentapplication may require different sizes and shapes, since this project mainly target is todesign a snake-like robot that can avoid the obstacles, so the snake-like robot is design to amoderate size with 4-5 segments, so that the snake-like robot can move flexible in the terrain that have a lot of obstacle. In order to make the snake-like robot function and move like a real biological snake, snake-like robot may construct of multiple joints which enable the snake-like robot to have multiple degree of freedom, which give it the ability to flex, reach andapproach a huge volume in its workspace with infinite number of configurations.This mobility can enable the robot to move around in more complex environments.So, the application for this snake-like robot could be very useful in hard to reach places or hazardous environments. For the locomotion of this snake-like robot, it is move in a specific gait, which is a periodic of sine wave motion, just like a lateral undulation motion. Lastly, the special feature such as snake-like locomotion, is to move in rough terrain and able to remotely control are applied to the design.

Project Objectives

• The objective is to demonstrate basic path-planning approaches using CPG and serpenoid curve.
• To design and develop a modular structure of 5 links (passive wheeled) snake robot connected through two single DOF joints.

Project Implementation Method

The snake-like robot will be separated into four different parts of tasks, namely the mechanical part, the electronics and electrical part, the programming part and the report part. Thus, a team is formed of four person with each person takes a part. The programming part will include the control for locomotion of the snake-like robot by programming the DC servo motor, response to the sensors feedback, response to user command, and able to move the body in particular applications like moving around the obstacles.The electronics part i.e. the circuit designing, mounting the components on the mechanical design and the wiring part. the Report or Thesis part.

Benefits of the Project

Snake like robots have structural characteristics such as multi-degrees of freedom, multi- joints and modular structure, which allows them to move using various methods and goodadaptabilities. Compared to wheeled and legged mobile mechanisms, the snake robot offershigh stability. It can travel through almost all types of terrains. So it can be used for manyapplications such as rescue missions, fire-fighting and maintenance where it may either betoo narrow or too dangerous for personnel to operate.

• Move across uneven terrains (Use rough terrains in its advantage) and confined spaces.
•  Move across softer ground such as sand, since it can distribute its weight across a wider area.

Technical Details of Final Deliverable

The objective of this project is to build a snake like robot that can traverse many differentand difficult terrain types, such as small holes, tunnels and gaps and mapping the information in developing the modular snake robot design, we considered several factors such as size,weight, power while designing.This work aimed at facilitating the snake inspired robots in several areas. A specific class of gaits was analysed, and the model was designed in order to understand the mechanics ofthe locomotion as it relates to the mechanical design, as well as gait design. This model can move both in narrow place and in place with a height difference.Finally, a snake inspired robot was designed to be implemented, is a full modular architecture and an innovative manufacturing process aimed at reducing costs.

Final Deliverable of the Project

Hardware System

Core Industry

Others

Other Industries

Core Technology

Robotics

Other Technologies

Sustainable Development Goals

Good Health and Well-Being for People

Required Resources

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