In a few years, snake robots will assist in search and rescue missions after earthquakes and carry out maintenance operations inside process pipes. In the video, off to the left, you can see the arm needs to be connected to something that can do. The snake contains twelve segments motivated by servo motors and joined with metal brackets. Miscellaneous mechanical engineering design art engineering. Jun 19, 2015 lets explore how to design, build, program, and then play with our own 3d printed robot arms. In the next chapter, the mathematical model of a direct kinematics of a three link snakelike robot was created. Download seminar report for snake robots, abstract, pdf, ppt. Our design considers size, power, weight, and tradeoffs among these criteria. Opensource parametric snakerobotautodesk online gallery. Design and architecture of the unified modular snake robot. 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. The robot prototype consists of eleven modules that are connected by revolute joints. 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 snake has long been one of the most compelling demos out of carnegie mellons robotics lab.
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. Lets explore how to design, build, program, and then play with our own 3d printed robot arms. In particular it avoids using wheels to achieve locomotion by implementing a more advanced segment design. Wheeko is a wheeled snake robot developed at robotnor. This paper details the design and architecture of a series elastic actuated snake robot, the sea snake. S7 is an experimental prototype that is still under development. The computeraided design cad files and all associated content posted to this website are created, uploaded, managed and owned by third party users.
Two types of snakelike robots for complex environment exploration. Instead, its a design for an arm on a larger machine. Ieee xplore, delivering full text access to the worlds highest quality technical literature in engineering and technology. Arduino based snake robot controlled using android. Snake robot seminar report, ppt, pdf for electrical. Im a software guy with a strong mechanical intuition but little formal training in mechanics. As a high redundancy system with high stability and adaptability, disaster rescue robot is widely used in collapsed buildings for search and rescue work. 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. These capabilities have spurred an extensive research activity investigating the design and control of snake robots. 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. A robot as agile as a snake can explore almost any hidden nook and cranny.
In the coming posts we will step through the process of modeling 3d parts using computer aided drafting, or cad for short. It also includes the fourth, variable virtual link. The following sections describes a complete mechanical and software architecture realizing screwpropelled, spherically jointed, snakelike and serpentine robot. The mechanical design of snakearm robot request pdf. Take the transition from snake to snake robot as an example. Sidewinder snake helps engineers design a better robot video. Carnegie mellon snake robot used in search for mexico quake. Which is a sort of 2d physics engine that allows you to draw and simulate mechanical things quickly and effectively. The arduino controller controls the entire system as the program coded. Oppas is a snake robot intended for research with robots that mimic the structure of a snake. Carnegies snake robot is a modular machine made of 16 motors known as actuators. The article deals with the kinematics of a three section snakelike robot. Using the dynamics model and webots simulation, a ninelink snake robot is designed.
Design and architecture of a series elastic snake robot. With autodesk gallery, you can view and present 3d model and file easily online. Jul 06, 2017 the snake has long been one of the most compelling demos out of carnegie mellons robotics lab. 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. Pdf snake robots maneuver in complex environments and exhibit large. Also, a snake robot is a highly articulated robot manipulator arm with the capability of providing its own propulsion. Additionally, each module includes a highspeed ethernet communications bus, internal imu, modular electromechanical interface, and arm based onboard control. Snake robots are a class of hyperredundant mechanisms that locomote. 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.
In the paper, a snake like robot based on cylinder module is developed. Design of a modular snake robot cornell wright, aaron johnson, aaron peck, zachary mccord, allison naaktgeboren. This book approaches the subject at a very good pace for me. Software for designing mechanical systemsrobotic parts. The development of two snake robots is described and both are used to provide experimental validation of many of the theoretical results. Robotnor has conducted research on snake robots for several years and is getting closer to realizing the potential of these mechanisms. On the surface, one can see a snake, say, on a hike in the woods and then build an elongated mechanical creature. Snake robots can go places that other remotecontrolled autonomous devices cannot.
Snake robot, hyperredundant robot, gait planning, dynamics and control. The primary mechanical component of the snake is the module. 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. The first snake robot is called wheeko and was developed to enable experiments related to. 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. Robotic snake could speed searchandrescue missions innovate. Instead of modules equipped with identical sensors, the. Department of mechanical engineering and institute for systems research. How to make a robotic snake slither like a real one. Mechanical design and geometric gait implementation abstract. Special degree program university of colombo, advisor.
Some are similar to a snakes natural undulations, but others take advantage of the robots unique mechanical characteristics, such as its ability to roll. Like snake robot modules, these small, batteryoperated robots work together in groups to achieve a larger goal. The following sections describes a complete mechanical and software architecture realizing screwpropelled, spherically jointed, snake like and serpentine robot. Future applications of such robots include search and rescue, inspection and maintenance, and subsea operations. Robotic snake could speed searchandrescue missions. Snake robots is a novel treatment of theoretical and practical topics related to snake robots. Environmental issues actuators analysis design and construction employee assistance programs engineering design methods polymers robotics industry robots equipment and supplies. Design and motion planning of a mechanical snake ieee.
The robot consists of a series chain of 1dof modules that are capable of torque, velocity and position control. Expanded pvc plastic, steel rod, and plastic gears. 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. Carnegie mellon researchers mimic the sidewinder to make their robot snake scoot like crazy without the benefit of arms or legs. 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. In the paper, a snakelike robot based on cylinder module is developed. Department of mechatronics engineering, jeppiaar engineering college, chennai. In the introductory part of the article, the main advantages and application possibilities of a snakelike movement in practice are mentioned. Explore snake robot with free download of seminar report and ppt in pdf and doc format. How to make a rc snake toy at home from cardboard diy snake robot duration. Carnegie mellon snake robot used in search for mexico. Inspired by the reptile of the same name, its long, skinny build makes it perfect for squeezing. Smart materialactuated flexible tendonbased snake robot.
The design and implementation of a snake robot is the con. The flexible snake robot is a novel idea in the field of robotics. The traditional robotics concepts are modified in this work, in which each of the links acts as a threedimensional 3d joint. 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. If you want to know more about this project, visit my blog.
Each body segment contains a rc servo, which is controlled by a pic microntroller located in the head of the snake robot. 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. Dec, 2014 which is a sort of 2d physics engine that allows you to draw and simulate mechanical things quickly and effectively. The robot was developed to demonstrate aiko obstacleaided locomotion. 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. Mechanical design and geometric gait implementation. The documentation is published in essence, a snake 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. 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. 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. How carnegie mellons snake robot became the multilegged. Proposed robot scheme with 5 dof and dynamic modelling using maple software.
The robot is made up of several body segments and a head. Modular snake robot oriented open simulation software ieee xplore. The servos are controlled by an arduino mega and powered by a 7. We propose an approach to soft robot control in which the robot is designed to physically realize a shape space mechanically predefined body. The head of the robot includes lights and a video camera. 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. Think of these as a whole bunch of joints running down the body, making the robot highly dexterous. Arduino controlled robotic snake for monitoring the rescue. The first snake robot is called wheeko and was developed to enable experiments related to snake robot. Currently, the robot snake is best suited to soil, sand, and flat surfaces. A snake robot is a robotic mechanism designed to move like a biological snake.
To improve orisnake, the researchers plan to optimize the mechanical design of the robot and increase the velocity with different motors. 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. The robot body has 16 degrees of freedom, enabling it to assume a number of configurations and to move using a variety of gaits. Smart materialactuated flexible tendonbased snake robot show all authors. The work underlying this book includes the development of two mechanical snake robots. Snake robot locomotion patterns for straight and curved. By the end of 2008, he says, there should be a human trial with the snake robot. Prototyping mechanical motion with algodoo youtube. These design requirements have led to the development of the versatile super servo which proactively preserves itself as it monitors its internal status.
Webots software is used for simulation and to experimentally investigate the. While not traditional snake robots, the millibots developed at carnegie mellon university have a modular design as well 6. Request pdf the mechanical design of snakearm robot snakearm robots with a slender and flexible body have many potential applications in aerospace, nuclear. This wiki page contains discussions of the motion of a snake, mechanical design, electronic design and pic code. Our snake robot aiko demonstrating obstacleaided locomotion. The snake can be controlled by an android app using bluetooth. A snakebot, also known as snake robot, is a biomorphic hyperredundant robot that resembles a biological snake.
Snakes help engineers design search and rescue robots. 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. Any number of additional bots can be added with no specific change in architecture design. Sidewinder snake helps engineers design a better robot. 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. Highly recommended to me by multiple people who needed to dive into the mechanical aspects of robotics for the first time. 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. Kinematic analysis of planar snakelike robot mechanism. 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. 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.
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