BIOLOGICAL INSPIRING ROBOT - SNAKE LIKE MODEL

A PROJECT REPORT Submitted by

NAVEEN D S [Reg.No: 1671010021]

Under the guidance of

Mr. D RAGURAMAN, M.E.

(Assistant professor (OG), Department of Mechanical Engineering)

in partial fulfillment for the award of the degree of MASTER OF TECHNOLOGY

in

ROBOTICS ENGINEERING
of

FACULTY OF ENGINEERING & TECHNOLOGY

S.R.M. Nagar, Kattankulathur 603203 Kancheepuram District

MAY 2012

BONAFIDE CERTIFICATE

Certified that this project report titled BIOLOGICAL

INSPIRING

ROBOT - SNAKE LIKE MODEL is the bonafide work of NAVEEN D S, Reg.No:1671010021, who carried out the project work under
my supervision. Certified further, that to the best of my knowledge the work reported herein does not form any other project report or dissertation on the basis of which a degree or award was conferred on an earlier occasion on this or any other candidate.

SIGNATURE MR. D RAGURAMAN, M.E. GUIDE ASSISTANT PROFESSOR DEPARTMENT OF MECHANICAL SRM UNIVERSITY

SIGNATURE Dr.D.Kingsly Jeba Singh HEAD OF THE DEPARTMENT

DEPARTMENT OF MECHANICAL SRM UNIVERSITY

Signature of the Internal Examiner

Signature of the External Examiner

ACKNOWLEDGEMENT
I am thankful to the Almighty GOD for the blessings showered on me for the progress of the project work. I would like to render my gratitude to Dr. D. KINGSLY JEBA SINGH, Head of the department. I am also grateful to Mr. M.R.STALIN JOHN and Mr.S.PRABHU, my project coordinators for their involvement in this project from its conception. I feel greatly indebted to my project guide Mr. D RAGURAMAN, M.E. My sincere thanks to him for the interest he showed in my project, and his encouragement and timely motivations to do my best. I would also like to thank the staff members of Mechanical department for the successful implementation of my project. Finally my hearty appreciation and thanks to my friends who helped me directly or indirectly in making this project.

ABSTRACT Snake robot is a well known hyper-redundant robot which mimics the biological snake locomotion. The snake-like robot finds its usage in various industries. The hyper-redundant movements allow the robot to move into tight spaces and makes irregular movement patterns possible. This project work focuses on the design of snake-like robot. Keeping in mind the biological snake locomotions, the developed model will be able to flex, reach, and slither through narrow workspaces with its infinite number of joints configurations. Another important feature of the developed model is that the snake robot has good control actuations. Good control actuations enable the robot to move efficiently and safely through difficult various obstacles. The tests done distinctly prove that the model meets all the design objectives and gives allusion for further developments like introduction of cameras into the model system to track effectively.