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Seminar ON (Snake Robot) : Biomimetic Robots

This document summarizes a seminar on biomimetic snake robots. The speaker discussed how snake robots can be used for search and rescue operations as well as medical applications due to their ability to access tight spaces. The project involved creating a snake robot capable of rectilinear motion without external wires by embedding all components. Molds were designed for injection molding robot modules, but the project was not completed due to equipment failure. Future work will focus on optimizing the snake robot's programming and creating fully embedded and modular robot links.

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Jitendra Saroj
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233 views16 pages

Seminar ON (Snake Robot) : Biomimetic Robots

This document summarizes a seminar on biomimetic snake robots. The speaker discussed how snake robots can be used for search and rescue operations as well as medical applications due to their ability to access tight spaces. The project involved creating a snake robot capable of rectilinear motion without external wires by embedding all components. Molds were designed for injection molding robot modules, but the project was not completed due to equipment failure. Future work will focus on optimizing the snake robot's programming and creating fully embedded and modular robot links.

Uploaded by

Jitendra Saroj
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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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

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