20-04-2012, 11:07 AM
Design of a Modular Snake Robot
[attachment=20410]
INTRODUCTION
Snake robots are a class of hyper-redundant mechanisms
that locomote through internal shape changes. Snake robots’
unique shape and ability to navigate highly variable environments,
such as the pipe in Figure 1, make them suitable
for urban search and rescue missions. There are also various
military uses. However, only strong, well-designed, and reliable
robots will be useful for these tasks. We have designed
a modular architecture that allows for both a wide range of
gaits and resilience to failures. This architecture incorporates
a well-refined mechanical design coupled with advanced
electronics and software. These design requirements have
led to the development of the versatile Super Servo which
proactively preserves itself as it monitors its internal status.
This combination allows the robots to effectively perform
their tasks. We considered common failures in other modular
snake robots and designed accordingly.
RELATED WORKS
Recently, especially within the past decade, interest in
redundant modular robotic systems has increased. These
systems have certain advantages such as low cost, robustness,
and versatility [1]. The potential for mass production allows
for a cost-effective robot. Redundancy provides robustness;
the failure of one module does not cause general failure of
the system. Versatility comes from the non-specific nature of
the system. The applications of these features have sparked
a fascination with the modular robotic systems.
MECHANICAL OVERVIEW
The presented design is the most recent of a series of
iterations. Initially the modular snake robots consisted of
laser-cut plastic modules with parallel joint axes, restricting
the snake’s movement to only two dimensions. While able to
effectively climb channels consisting of two parallel walls,
this configuration proved too limited for more complex tasks.
To solve this problem, we redesigned the robot with each
module’s axis of rotation rotated ninety degrees from the
previous module. Because the snake robot could move in all
three dimensions, many more gaits and behaviors became
possible. Next we strengthened the design by switching to
aluminum modules and higher-torque servos.
CONCLUSIONS AND FUTURE WORK
In developing the current modular snake robot design, we
considered several factors. The robot must satisfy various
constraints when confronted with the challenges of high-level
gaits. The architecture design must consider size, weight and
power while producing the necessary torque in every joint.
Even while juggling these constraints, the design maintains
a very high level of reliability. This has resulted in a
very versatile robot that can function in a wide variety of
environments. The development of the Super Servo has been
an integral part of the achievements of our robot.
[attachment=20410]
INTRODUCTION
Snake robots are a class of hyper-redundant mechanisms
that locomote through internal shape changes. Snake robots’
unique shape and ability to navigate highly variable environments,
such as the pipe in Figure 1, make them suitable
for urban search and rescue missions. There are also various
military uses. However, only strong, well-designed, and reliable
robots will be useful for these tasks. We have designed
a modular architecture that allows for both a wide range of
gaits and resilience to failures. This architecture incorporates
a well-refined mechanical design coupled with advanced
electronics and software. These design requirements have
led to the development of the versatile Super Servo which
proactively preserves itself as it monitors its internal status.
This combination allows the robots to effectively perform
their tasks. We considered common failures in other modular
snake robots and designed accordingly.
RELATED WORKS
Recently, especially within the past decade, interest in
redundant modular robotic systems has increased. These
systems have certain advantages such as low cost, robustness,
and versatility [1]. The potential for mass production allows
for a cost-effective robot. Redundancy provides robustness;
the failure of one module does not cause general failure of
the system. Versatility comes from the non-specific nature of
the system. The applications of these features have sparked
a fascination with the modular robotic systems.
MECHANICAL OVERVIEW
The presented design is the most recent of a series of
iterations. Initially the modular snake robots consisted of
laser-cut plastic modules with parallel joint axes, restricting
the snake’s movement to only two dimensions. While able to
effectively climb channels consisting of two parallel walls,
this configuration proved too limited for more complex tasks.
To solve this problem, we redesigned the robot with each
module’s axis of rotation rotated ninety degrees from the
previous module. Because the snake robot could move in all
three dimensions, many more gaits and behaviors became
possible. Next we strengthened the design by switching to
aluminum modules and higher-torque servos.
CONCLUSIONS AND FUTURE WORK
In developing the current modular snake robot design, we
considered several factors. The robot must satisfy various
constraints when confronted with the challenges of high-level
gaits. The architecture design must consider size, weight and
power while producing the necessary torque in every joint.
Even while juggling these constraints, the design maintains
a very high level of reliability. This has resulted in a
very versatile robot that can function in a wide variety of
environments. The development of the Super Servo has been
an integral part of the achievements of our robot.