Title: Control of a snake robot with 3R joint mechanism

Authors: V.S. Rajashekhar; T. Pravin; K. Thiruppathi

Addresses: School of Mechanical Engineering, SASTRA Deemed to be University, Thanjavur, Tamil Nadu, 613 401, India ' School of Mechanical Engineering, SASTRA Deemed to be University, Thanjavur, Tamil Nadu, 613 401, India ' School of Mechanical Engineering, SASTRA Deemed to be University, Thanjavur, Tamil Nadu, 613 401, India

Abstract: The control of a snake robot on the flat and inclined surfaces is difficult due to different sequences of actuation of actuators. This paper explains the control of two sets of three revolute joint mechanism in the snake robot with the help of servo motors. It is possible for the snake robot to exhibit concertina motion and side winding motion. There are seven servo motors which play an important role in performing concertina motion. Side winding motion is performed with the help of two DC motors. In this paper, controlling the seven servo motors and two DC motors are discussed which enables the snake robot to exhibit the two motions. The simulation results validate the working of the snake robot and the implemented snake robot is shown.

Keywords: 2[3R] joint mechanism; concertina motion; side winding motion; linear control; snake robot; pulse width modulation wave.

DOI: 10.1504/IJMRS.2018.095950

International Journal of Mechanisms and Robotic Systems, 2018 Vol.4 No.3, pp.176 - 191

Received: 05 Jun 2017
Accepted: 07 Sep 2017
Published online: 05 Nov 2018 *

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