The hydraulic infinite linear actuator with multiple rods. Explore snake robot with free download of seminar report and ppt in pdf and doc format. We will give an overview of the design of two new hydraulic robots. Also applications in the aircraft and robotic field will be presented. Design and architecture of a series elastic snake robot. This chapter provides an overview of the state of the art of snake like backbones comprised of many small links and continuum continuous backbone robots. What is robot what is snake robot details architecture how snake robots works application advantage disadvantage conclusion reference contents. The kinematics is similar regardless of whether the snake robot moves on ground or in water, while the dynamics differs for landbased and underwater snake robots.
The invention is called the hydraulic infinite linear actuator with multiple rods, hila mr. Snake robots can use their many internal degrees of freedom to thread through tightly packed volumes accessing locations that people and machinery otherwise cannot use. In particular it avoids using wheels to achieve locomotion by implementing a more advanced segment design. The high number of degrees of freedom allows the arm to snake along a path or around an obstacle hence the name snakearm. A robot that is powered by hydraulic actuators, usually controlled by servovalves and analog resolvers explanation of hydraulic robot. Hydraulic robot article about hydraulic robot by the free. In our design, a small geared dc motor is chosen to actuate the joint.
Telemanipulation of snake like robots for minimally invasive surgery of the upper airway ankur kapoor1, kai xu2, wei wei2, nabil simaan2, and russell h. Aiko a snake robot with dc motors robotnorrobotnor. Snake like robot is applied to all hyper redundant robots those are. In the video, off to the left, you can see the arm needs to be connected to something that can do. Make a wireless diy remote control snake at home using cardboard. These capabilities have spurred an extensive research activity investigating the design and control of snake robots. Snakefighter development of a water hydraulic fire. This paper presents a comparative study for actuation by undulation in water. Developments in snake robot modeling and locomotion.
A method for fabricating robots by 3d coprinting solids and liquids robert maccurdy1, robert katzschmann1, youbin kim1, and daniela rus1 abstractthis paper introduces a novel technique for fabri. Design and motion planning of a mechanical snake yansong shan and yoram koren, senior member, ieee abstractthe paper presents the design and motion planning for a mechanical snake robot that was built at the university of michigan. Snakearm robots are modular kinematic chains with a large number of degrees of freedom used where robots need to manoeuvre around objects or reach into tight spaces project objective. In a few years, snake robots will assist in search and rescue missions after earthquakes and carry out maintenance operations inside process pipes. Roboticscomponentsactuation devicespneumatics hydraulics.
Design and motion planning of a mechanical snake systems. Mar 22, 2017 if you wanted to know how it is made ask me ur questions. The robot prototype consists of eleven modules that are connected by revolute joints. Snake fighterdevelopment of a water hydraulic fire fighting snake. The study presents the idea, principles and feasible combinations of the technology. Design and architecture of a series elastic snake robot david rollinson, yigit bilgen, ben brown, florian enner, steven ford, curtis layton, justine rembisz, mike schwerin, andrew willig, pras velagapudi and howie choset abstractthis paper details the design and architecture of a series elastic actuated snake robot, the sea snake. Jul 06, 2017 like the snake before it, the multilegged robot was inspired by the ways animals interact with their environment.
But sue explains about hydraulics a science that studies the properties of water and. The book is particularly useful to new researchers taking on a topic related to snake robots because it provides an extensive overview of the snake robot literature and also represents a suitable starting point for research in this area. A general framework is detailed to solve the 2d modeling problem of a soft snake robot, which is applicable to most pressureoperated soft robots developed by a modular kinematic arrangement of bendingtype fluidic elastomer actuators. The robot is the first water hydraulic snake robot ever constructed. May 16, 2015 im not suggesting you build a giant robot although thatd be pretty cool, but there is plenty you can learn, and knowledge is power. As shown in figure 2 above, all commerciallyavailable modular robots use electrical actuators. Moreover, these highly articulated devices can coordinate their internal degrees of freedom to perform a variety of locomotion capabilities that go beyond the capabilities of. This paper presents the snakefighter concept and describes the generic element within this concept in the form of a water hydraulic snake robot.
Pdf snakefighter development of a water hydraulic fire. Mechanism design and locomotion of a snake robot springerlink. Telemanipulation of snakelike robots for minimally invasive. Nowadays snakelike robots are an actively upcoming area in robotics. To demonstrate this application, researchers at robotnor developed the water hydraulic snake robot anna konda, which laid the foundation of our current research activity on snake robots. As a high redundancy system with high stability and adaptability, disaster rescue robot is widely used in collapsed buildings for search and rescue work. Design of an ankleknee joint system of a humanoid robot with a linear electrohydrostatic actuator driven parallel ankle mechanism and redundant biarticular actuators hiroshi kaminaga 1.
Study of the navigation method for a snake robot based on the. Cyclic hydraulic actuation for soft robotic devices. Snake like soft robot using 2chambers actuator many researchers have been working on snake like robots due to their flexibility, safety and dexterity. Pettersen abstractthis paper considers the problem of model based control of the joints of a snake robot without wheels.
Snake robot seminar report, ppt, pdf for electrical. Design and walking control implementation of a hydraulic. Robotnor has conducted research on snake robots for several years and is getting closer to realizing the potential of these mechanisms. Onal1,3 abstract for a mobile robot undergoing serpentine locomotion, an accurate dynamic model is a fundamental requirement for optimization, control, navigation, and learning algorithms. A snake robot is a robotic mechanism designed to move like a biological snake. Expanded pvc plastic, steel rod, and plastic gears. Cyclic hydraulic actuation for soft robotic devices robert. In the case of the snake monster, the legs adapt to the surface theyre walking on. Snake robots may one day play a crucial role in search and rescue operations and firefighting where it may either be. S7 is an experimental prototype that is still under development. Snakelike soft robot using 2chambers actuator abdulrab.
Instead, its a design for an arm on a larger machine. Snakearm robots are highly flexible robots ideal for working in confined and hazardous spaces. This project attempts to increase the payload and to increase the number of modules which can be supported in a modular and reconfigurable robot arm by using hydraulic actuators, since hydraulic. Most of the cylinders in use for hobby robotics are constructed of stainless steel and depending on the type of ram it will either feature one or two ports for compressed air. The biggest and strongest snake robot in the world is, as far as we know, known as anna konda. Snake robots is a novel treatment of theoretical and practical topics related to snake robots. Traditional robots have rigid underlying structures that limit their ability to interact with their environment. Driven by wire ropes, and controlled by oc robotics proprietary software, snakearm robots are able to traverse cluttered environments and conduct activities such as inspection, fastening and cleaning when integrated with offtheshelf or custom design tools. It is a 3 meter long, 75 kilograms heavy water hydraulic snake developed to demonstrate a snake robot s abilities in fire prevention. Theoretical modeling and experimental analysis of a pressure.
In this video show you how to make a robotic hand with syringe. Take a look though the concepts below, then ill share a hydraulic project idea thats less weighty than an 800 lb robot. Although it would be lengthy to discuss them all, it may be noticed that the greatest majority of these exceptions either fall in the category of trunks, spines, snakes. Posted in ask hackaday, robots hacks tagged animatronic, disney, hydraulic, pneumatic, robot snake bot gives us the mechanical heevyjeevies november 15, 2011 by mike szczys 30 comments. Download seminar report for snake robots, abstract, pdf, ppt.
Snake like soft robot using 2chambers actuator hakim q. The robot consists of several identical joint modules with two motorized degrees of freedom each. Nov 04, 2016 the cylinder, which is black in the diagram, is where the process takes place. Pdf developments in snake robot modeling and locomotion. A robot with a hydrostatic or hydraulic skeleton, i. The paper identifies design challenges of a complete snakefighter system and describes future research on this concept discover. Design and walking control implementation of a hydraulic humanoid biped robot article pdf available may 2017 with 862 reads how we measure reads. Theoretical modeling and experimental analysis of a pressureoperated soft robotic snake ming luo,1,2 mahdi agheli,3 and cagdas d. Snakefighter development of a water hydraulic fire fighting. Owi hydraulic arm edge kit with hydraulic arm edge, command six axes of varied movements. A snake robot with a contact force measurement system for. The text targets the disparate muddle of approaches to modelling, development and control of snake robots in current literature, giving a unified presentation of recent research results on snake robot locomotion to increase the readers basic understanding of these mechanisms and their motion dynamics and clarify the state of the art in the. How to make hydraulic powered robotic arm from cardboard slick slime sam diy, comedy, science.
The work on the anna konda robot helped us identify several major research challenges. Pdf a snake robot can traverse cluttered and irregular environments by using irregularities around its body as pushpoints to aid the. In the paper, a snake like robot based on cylinder module is developed. Numerous illustrative figures and images help readers to visualize the material. Abstract a snake robot can traverse cluttered and irregular environments by using.
How to make hydraulic powered robotic arm from cardboard. Download snake robots seminar report, ppt, pdf, snake robots ppt, snake robots topics, abstracts, documentation. Design of an ankleknee joint system of a humanoid robot. Abdulrab 1, ili najaa aimi m ohd nordin 2, muhammad rusydi muhammad razif 2, ahmad athif faudzi 1,3. A hydrostatic robot for marine applications sciencedirect. The electrohydraulic snakearm robot by abed alnaif, under the supervision of professor jan huissoon background and need. Using syringes as hydraulic rams to power a robotic arm. Nov 24, 2018 slime sam finds it hard to believe that water has great power. Design of a hydraulically actuated arm for a quadruped robot. Control and design of snake robots robotics institute carnegie. A snake robot is a type of highly redundant mobile robot.
Pdf a snake robot joint mechanism with a contact force. Also, a snake robot is a highly articulated robot manipulator arm with the capability of providing its own propulsion. Aiko a snake robot with dc motors aiko is one of our first snake robots and was developed in order to produce a portable system for experimenting with snake robot locomotion. The structure of the robot enables it to move without wheels. Playing jenga with hydraulic powered robotic arm from. This diy remote controlled snake has very flexible body and resembles the movement of a real snake. The potential range of applications for snake robots are numerous.
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