In this paper we present a novel 3 DOF joint mechanism for a snake robot which makes the segment to turn, lift and extend. Using these degrees of freedom, the robot is made to exhibit rectilinear motion on floor and inside pipes. A simple wall press mechanism is used at the center of each segment which helps it to climb pipes. The design of the snake robot using this joint mechanism is explained in detail. The experiments were conducted where the snake robot moved on a flat surface, horizontally inside a pipe and also vertically from top to bottom inside a pipe.
|Publication status||Published - 1 Jan 2015|
|Event||2nd International and 17th National Conference on Machines and Mechanisms, iNaCoMM 2015 - Kanpur, India|
Duration: 16 Dec 2015 → 19 Dec 2015
|Conference||2nd International and 17th National Conference on Machines and Mechanisms, iNaCoMM 2015|
|Period||16/12/15 → 19/12/15|