Computer Aided Design and Realization of a Snake Robot with Two Sets of Three Revolute Joint Mechanism

摘要

Snake robots have high degrees of freedom and can move on any kind of environment by suitably adjusting itself. In order to serve this purpose, a snake robot with two sets of three revolute joint mechanism was developed to exhibit concertina motion. There are rotating disks at the end of the segments which enables side winding motion. By the combination of these two motions, the snake robot can traverse on flat surfaces and even on slopes. The snake robot was first drafted and then modeled. Then the mechanism was simulated and stress analysis was done for it. Finally the design was implemented and the snake robot was made in reality.