Snake Robot Mechanics
Existing Mechanical Designs for robot snakes
Servo and Motor Driven Mechanism
- Design and Control of a Snake Robot according to Snake Anatomy (journal by IEEE)
- Coupled-Drive-Based Joint Design of a Snake Robot and its Body-Lifting Method (journal by IEEE)
- Design and Control of a Second-Generation Hyper-Redundant Mechanism (journal by IEEE)
- Development of a Low-cost Flexible Modular Robot GZ-I (journal by IEEE)
- Three degrees-of-freedom joint for spatial hyper-redundant robots (journal by Mechanism and Machine Theory. available on science direct)
Cable Driven Mechanism
Actuators
Low Level Control
- [http://www.pololu.com/] Servo Controllers General
- Selected - Pololu Serial 8-Servo Controller (assembled) - Pololu
- control software to actuate the card is from this link here
- The servo controller is connected to a computer using a USB to serial 9 pin cable converter.
- A circuit board was build as a voltage adapter to provide constant 6V to the micro-controller and to the servos. Voltage is supplied from a 18V, 4.9A Hp laptop adapter.
Components
- 2 voltage regulators 6V 1A (Farnell)
- 1 capacitor 0.1uF (RS)
- 1 capacitor 100uF (RS)
- 1 resistor 1000 ohm (RS)
- 1 LED (RS)
- 1 Power socket (RS)
- 1 Circuit Board