Control of a snake robot with 3R joint mechanism

Abstract

The control of a snake robot on the flat and inclined surfaces is difficult due to different sequences of actuation of actuators. This paper explains the control of two sets of three revolute joint mechanism in the snake robot with the help of servo motors. It is possible for the snake robot to exhibit concertina motion and side winding motion. There are seven servo motors which play an important role in performing concertina motion. Side winding motion is performed with the help of two DC motors. In this paper, controlling the seven servo motors and two DC motors are discussed which enables the snake robot to exhibit the two motions. The simulation results validate the working of the snake robot and the implemented snake robot is shown.