Design of a snake robot to exhibit rectilinear motion on floor and inside pipes

V. S. Rajashekhar*, Swagat Kumar

*Corresponding author for this work

Research output: Contribution to conferencePaper

Abstract

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.

Original languageEnglish
Publication statusPublished - 1 Jan 2015
Event2nd International and 17th National Conference on Machines and Mechanisms, iNaCoMM 2015 - Kanpur, India
Duration: 16 Dec 201519 Dec 2015

Conference

Conference2nd International and 17th National Conference on Machines and Mechanisms, iNaCoMM 2015
CountryIndia
CityKanpur
Period16/12/1519/12/15

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    Rajashekhar, V. S., & Kumar, S. (2015). Design of a snake robot to exhibit rectilinear motion on floor and inside pipes. Paper presented at 2nd International and 17th National Conference on Machines and Mechanisms, iNaCoMM 2015, Kanpur, India.