A curvilinear snake arm robot with gripperaxis fibreoptic. The robot and the framework architecture introduction. The rande prototype will provide greater reach and better positioning and coupling than can be achieved by a human inspector inside the same confined space. This long arm robot will help fix aircraft engines oct 30, 2017 by maggie sieger. Modular snake ros juan leon, laura paez and kamilo melo. The mechanical design of snakearm robot request pdf.
Snake arm robots are also described as continuum robots and elephants trunk robots although these descriptions are restrictive in their definitions and cannot be applied to all snake arm robots a continuum robot is a continuously curving manipulator, much like the arm of an octopus. Problems often occur in confined and hazardous spaces, and whilst these spaces are difficult for. Biomemetic snakearm robot for inspace inspection nasa. Problems often occur in confined and hazardous spaces, and whilst these spaces are difficult for humans to work in, a snake arm robot has no issue. A pulse could have a different effect on servos with different specifications. The snake has long been one of the most compelling demos out of carnegie mellons robotics lab. What is robot what is snake robot details architecture how snake robots works application advantage disadvantage conclusion reference contents 3. Mar 17, 2014 i have attached my work implementing a robotic snake model described in an ieee paper also attached. A curvilinear robot constructed from a number of modu. Nov 21, 2016 we are both members of the cu snake arm team so we were aware that the 2008 cu snake arm was lacking a delivery vehicle.
The ocrobotics snakearm robot has just reached the first major milestone for assembly and inspection tasks within aircraft wings. The mechanical system becomes more flexible or less stiff, and. 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. Here are the building plans for the 17 official lego models that can be constructed with the home version of the ev3 but not with the education version. In light of this, snake robots constitutes a clarifying and stimulating starting point. Snake arm robots with a slender and flexible body have many potential applications in aerospace, nuclear and surgery industry. Additionally, each module includes a highspeed ethernet communications bus, internal imu, modular electromechanical interface, and arm based onboard control electronics. I have attached my work implementing a robotic snake model described in an ieee paper also attached. What is snake robot the high number of degrees of freedom allows the arm to snake along a path or around an obstacle hence the name snakearm. Snake robot multiple actuated joints implying multiple degrees of freedom.
Download this free vector about robotic arm, and discover more than 7 million professional graphic resources on freepik. This paper proposes a novel design of a snake arm robot which has a unique twin actuation construction. Inspired by the reptile of the same name, its long, skinny build makes it perfect for squeezing. Design and architecture of a series elastic snake robot. Mindstorms ev3 building instructions support lego education. Design, implementation and control of a robotic arm using. Acknowledging the fact that a massproduced notebook pc may have the best priceperformance tradeoff for a robot controller and that many people already own a notebook pc, this robot base is designed to carry any notebook pc.
Bas demo files that demonstrate a variety of programs illustrating the power and utility of the language and the robotic simulator. Snake robot offers new twist on nuclear cleanup cnn. A benchmarking facility for snake robot locomotion is presented, including the design of a snakelike robot extended with a sensor setup combining threedimensional vision and an array of force. The robotic snake was developed within five weeks, and proved to be a very successful demo. Daq plotting user input high level task input controller log protocol selector message passing protocol converter parameterized scripted lookup. Snakearm robots are highly flexible robots ideal for working in confined and hazardous spaces. This shows an explorer snakearm robot mounted on a kuka industrial robot. Pdf developments in snake robot modeling and locomotion.
Design and realize a snakelike robot in complex environment. This gives the arm the flexibility to follow its nose into the rib bay. Our proposed solution is a telesurgical robot with a hybrid slave manipulator that has a snakelike unit slu at its distal end, which provides high tooltip dexterity. Snakearm robot with kuka industrial robot ocrobotics has completed build and initial testing of a demonstration snakearm robot capable of sealing, swaging and inspection inside a mockup of a rib bay. Nov 18, 2011 the snake arm robot can reach the unreachable say its uk inventors, slithering into confined spaces, tackling tasks too difficult or dangerous for humans. Typical snake arms are attached to industrial robotic arms. Snake robot serpentine motion file exchange matlab central. Screenshot from csail robotic arm slithers like a snake through pipes by mitcsail on youtube so gizmodo found this morning a seafoamgreen, pneumatic, snaketentacle robot thats able to wiggle.
This programme shows the results of the lasersnake project, to demonstrate the joint potential of snakearm robot technology and laser cutting. The focus of the next year will culminate in the launch of a portable snake arm robot product with both security and industrial. Unit 5, abbey wood business park, emmachris way, filton, bristol, bs34 7ju. Engaging undergraduate students with robotic design projects. Telemanipulation of snakelike robots for minimally invasive. A continuum robot is a continuously curving manipulator, much like the arm of an octopus. There are now many tens of thousands of people who know about snake arm robots and have the power to shape our future. This study intends to investigate the design, implementation and control of a 5 dof articulated robotic arm using servo motors and pic 16f877a microcontroller. Carnegies snake robot is a modular machine made of 16 motors known as actuators. Pdf snake arm robots have flexible continuous constructions which can be used for accessing confined.
George rahul paul s7 a,17meenu saji s7 b,28titto thomas s7 a,47tony mohan varghese s7 a,48vidya sekhar s7 b,50 2. Use filters to find rigged, animated, lowpoly or free 3d models. Sep 22, 2016 snake arm robots do not need support from the environment, which means that they can navigate through an open space, avoiding obstacles, carrying tools and conducting work. Their supple bodies can bend and flex to fit the shape of the confining space. Available in any file format including fbx, obj, max, 3ds, c4d. The demonstrator snakearm has 10 segments, is 1800mm in length and 90mm in diameter. Kell, design and analysis of a family of snake arm robots connected by. Snakearm robots from ocrobotics have a wide variety of applications, particularly in restrictedaccess environments like nuclear repair, maintenance and decomissioning, bomb disposal, aerospace construction and more. The advantage of this microcontroller its low cost and incircuit programmability 10.
A benchmarking facility for snake robot locomotion is presented, including the design of a snake like robot extended with a sensor setup combining threedimensional vision and an array of force. Since the arm has a few joints, we can imagine, our human arm, in addition to shoulder, elbow, and wrist, coupled with the finger joints. We will continue to invent, file patents, win and complete contracts, and develop the team. The robot and the framework architecture 2 interfacing the robot 3 representing the robot urdf 4 high level tools 5 conclusions 323. Snakearm robots on the other hand can move in up to 30 different directions at once. Snake arm robots from ocrobotics have a wide variety of applications, particularly in restrictedaccess environments like nuclear repair, maintenance and decomissioning, bomb disposal, aerospace construction and more. Jul 06, 2017 the snake has long been one of the most compelling demos out of carnegie mellons robotics lab.
This paper presents early stage results of the demonstration snakearm robot and outlines. The robot consists of a series chain of 1dof modules that are capable of torque, velocity and position control. Through an extensive process of research and development, the series ii. Download seminar report for snake robots, abstract, pdf, ppt. Think of these as a whole bunch of joints running down the body, making the robot highly dexterous.
There are a large number of ways that the arms can move, said dr buckingham, whose research appears in the royal academy of engineerings ingenia magazine. This longarm robot will help fix aircraft engines oct 30, 2017 by maggie sieger. With 225 degrees of cumulative bend and an independently controlled tip, this highly flexible snake arm robot can perform essential tasks in areas beyond human reach. The page has a link to download a pdf file with the instructions, if you wish. Pdf design and analysis of a family of snake arm robots. Explore snake robot with free download of seminar report and ppt in pdf and doc format. Engage your students with realworld example and enable them to apply and develop their programming knowledge to topics such as vehicle. The snake arm can access small access holes and has a high flexibility. So we both thought that it would be nice to build a scale model for a possible delivery system or a possible end attachment for a future snake arm. Inspired by the reptile of the same name, its long, skinny build makes it. Design of a cabledriven hyperredundant robot with experimental. Snake robots come in many shapes and sizes, from the four stories long, earth quake snakebot developed by sintef, to a medical snakebot developed at carnegie mellon university that is thin enough to maneuver around organs inside a human chest cavity.
Snakearm robots do not need support from the environment, which means that they can navigate through an open space, avoiding obstacles, carrying. A look into the applications of robot arms in industrial factories such as welding, painting, assembly and transportation, etc. When hong kong started planning a road tunnel 50 meters 164 feet below sea level in 2012, local engineers had to find a way to keep the cutters in the massive boring shield in shape and the blades sharp enough to cut stone. Snake arm robots have flexible continuous constructions which can be used for accessing confined places in many fields, e. We are both members of the cu snake arm team so we were aware that the 2008 cu snake arm was lacking a delivery vehicle. The authors own research is presented in this book, and their insights enable the reader to understand the behindthescenes work on snake robot projects. There are now many tens of thousands of people who know about snakearm robots and have the power to shape our future. Snake arm robotics snake arm robots are made up of a large number of segments. Impact proposed system the snake robot intended to be designed will move around in a serpentine motion and theoretically speaking is the best movement for any robot to have. Snakearm robot to clean and inspect the cutting head of a. Public 2012 oc robotics what we offer complete bespoke systems comprehensive feasibility study. Sep, 2006 snake arm robots on the other hand can move in up to 30 different directions at once. A new robot base option that has recently appeared is the er1 seen in fig.
In previous works 25 novel telesurgical slave robots implementing snakelike units for distal dexterity enhancement. Snake robot seminar report, ppt, pdf for electrical. The many degrees of freedom of snake robots make them dif10. Although the first snake robot dates back to 1972 robotics courses rarely mention them. A snakearm robot is a slender hyperredundant manipulator. In april 2003, ocrobotics signed a contract with the uk mod to build a snakearm robot to be used on a remote vehicle. Snake arm robots are also described as continuum robots and elephants trunk robots although these descriptions are restrictive in their definitions and cannot be applied to all snake arm robots. The snakearm robot can reach the unreachable say its uk inventors, slithering into confined spaces, tackling tasks too difficult or dangerous for humans. Properties such as high terrainability, redundancy, and the possibility of complete sealing of the body of the robot, make snake robots very interesting for practical applications and hence as a. Log file and realtime plotting virtual environment v. The focus of the next year will culminate in the launch of a portable snakearm robot product with both security and industrial. The demonstrator snake arm has 10 segments, is 1800mm in length and 90mm in diameter.
A set of lectures about navigating mobile platforms or robots that is an extension of the b4 estimation course covering topics such as linear and nonlinear kalman filtering. How carnegie mellons snake robot became the multilegged. Snakearm robotics snakearm robots are made up of a large number of segments. This curriculum pack provides extensive content for teachers to deliver the computing or computer science curriculum, providing ample crosscurricular opportunities in design and technology, science, and math. Screenshot from csail robotic arm slithers like a snake through pipes by mitcsail on youtube so gizmodo found this morning a seafoamgreen, pneumatic, snake tentacle robot thats able to wiggle. A snakebot, also known as snake robot, is a biomorphic hyperredundant robot that resembles a biological snake. Posted 07162015 a robot as agile as a snake can explore almost any hidden nook and cranny. A collaborative project investigating the feasibility of inbore pipe welding using industrial lasers, integrated with snakearm robots for industrial applications. Snakearm robots are also described as continuum robots and elephants trunk robots although these descriptions are restrictive in their definitions and cannot be applied to all snakearm robots. I am not the most efficient coder, but feel free to have a look and tinker with it slash suggest improvements. Sep 07, 2016 what is robot what is snake robot details architecture how snake robots works application advantage disadvantage conclusion reference contents 3. Pages in category robotic snakes the following 3 pages are in this category, out of 3 total. Bbc news technology snakearm robots slither forward. There are many options that could be researched and developed to add to this robot and discussed below.
Aiming at high performance requirements of snakelike robots under. Public 2012 oc robotics what we offer complete bespoke systems. Any number of additional bots can be added with no specific change in architecture design. This shows an explorer snake arm robot mounted on a kuka industrial robot.