SEMINAR

ON
Biomimetic robots
(SNAKE ROBOT)

BY:- JITENDRA KUMAR SAROJ

ROLL NO:-0715031043
SNAKE ROBOTS
 Desirable for search and rescue
 Modular means if a part get stuck the snake can continue
 Sensors can be attached
 Can fit into the areas that are not accessible to humans(a
damaged or collapsed building)
 Medical uses
 Can be used in surgery and imaging to see spaces that
would take a more invasive surgery to see
 Pipeline uses
 Robots can fit easily into the piping and traveled along
the piping to determine any potential problems
PROJECT MOTIVATION
Rectilinear Robot
 There is currently no way to test gait
programs effectively at UDM
 By removing all external wiring we
can create a robot that is more
aesthetically pleasing and more
accurate for data research
 Embedded Module
 Determine the effects of injection
molding on robotics components
 Take another step closer towards a
fully modular robotics snake
Rectilinear Motion
A wave is translated along the horizontal axis to create
movement
There is no lateral movement and only minimal
vertical movement
Research Approach
Rectilinear model
 Create a design to demonstrate rectilinear motion
 All components(power supply, circuit etc) must be contained
on robot
 Create a program for rectilinear motion that will have the
quickest possible gait for the snake robot
Fully embedded module
 Control circuit, servo motor, wires and battery must be
contained in plastic
 Injection molding is to be used for holding the components
 This will test the components for durability when they are
subjected to hot, molten, plastic injection
Rectilinear Motion
30 gauge wire used
Sides created from Plexiglas
at joints at joints to help
stability during use
Battery mounts and a circuit
mount created from sheet
AL and Plexiglas to hold all
component on the robot
6 links with 5 joints
Program were written to
gain fastest robot motion
Parts uses for Rectilinear Robot
Problems and Solutions
Wire breaking
 Replace the wire and double the wire diameter for more
durability
Poor battery connection
 Solder the batteries directly to the motor via 3 way
switch to allow the recharging as well as use of robot
Instability of the robot
 Creation of sides for the robot to create more than one
contact point
Embedded Module
Part use in robot must be
small enough for injection
molding
Circuit switch and servo
gearing must be free for
motion once plastic is
injected
Molds created in pro-
engineering and then milled
for use in injection molding
Modules joined together by a
single degree of freedom arm
True Rectilinear Motion
Snake Robot without External
Component
Fully Embedded Module
Molds designed in pro-
engineer and NC-sequence
written for all steps
Approximately 10 injection
shots are needed to make
each module
Modules were unable to be
made due to a mechanical
failure in the lab, however
research is going to
continue once the machine
is operational
Conclusion
A rectilinear model was
created and it demonstrated
approximated rectilinear
motion without any external
wires
The speed of the robot was
improved by nearly 100% in a
new program with the robot
moving at 7-8 ft/min
The robot can now be used in
testing of new programs to
determining the optimal
programming for rectilinear
motion
Conclusion (cont.)
A model for the embedded module was created
Molds were designed and a NC sequence was able to
created for this robot
The design work has been completed and only
fabrication is left to be done
This will be one of the first injection molded robot
made
Future Research
The rectilinear robot model will be used in
determining the optimal programming
The embedded module will be created to determining
if it is possible to embed electronics in plastic without
damaging them
The embedded module will also be used to show
rectilinear motion
The module concept will be continued with the
embedded robot and will lead us one step closer to the
goal of a fully modular robot
THANK YOU