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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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.
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.
Copyright:
Attribution Non-Commercial (BY-NC)
Available Formats
Download as PPTX, PDF, TXT or read online from Scribd
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.
Copyright:
Attribution Non-Commercial (BY-NC)
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Download as PPTX, PDF, TXT or read online from Scribd
Download as pptx, pdf, or txt
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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