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Abstract of Snake Robotics
Abstract of Snake Robotics
TIRUCHENGODE – 637209
SNAKE ROBOTS –
APPLICATIONS AND
DESIGN
DESIGNED BY
TARUN SINGH
K.
MANIKANDAN
FINAL Yr B.E.,
2
redundancy in
configurations gives
them the technical
name: hyper
redundant robots.
Here we develop new
snake robot designs.
Ideally, the future
snake design will For the next
consist of three design iteration, we
degree of freedom will omit the
stages --- roll, pitch, extension degree of
and extension. freedom in favor of
Sometimes stages having a shorter bay
are called bays. For length. Therefore,
the applications that the main concept of
we are interested in, our design, as well as
the main challenge in many others, is to
designing these stack two degree-of-
robots deals with freedom joints on top
putting actuated of each other,
joints in a tight forming a serpentine
volume where we robot.
minimize the length
There are three
of the stages and
main schools of
their cross sectional
designs for these
areas
kinds of robots:
actuated universal
joint, angular swivel
joints and angular
7
APPLICATIONS
Robotics
develops snake-
arm robots for
confined It is important to
realize that confined
spaces.
spaces only exist
to these allow
considerations, automatic
further restrictions orientation of
were placed on the the tool piece
-arm robots. to the seam.
Three
A Snake Robot
interchangeable end
Search-And-
effectors were
designed by Robotics Rescue
for the demonstrator: Mission-