NDLI: Flexible snake robot: Design and implementation

Content Provider	IEEE Xplore Digital Library
Author	Moattari, M. Bagherzadeh, M.A.
Copyright Year	2013
Description	Author affiliation: Electr. Eng. Dept., Shiraz Univ., Shiraz, Iran (Bagherzadeh, M.A.) \|\| Electr. Eng. Dept., Islamic Azad Univ., Fars, Iran (Moattari, M.)
Abstract	This paper presents a snake robot able to pass different and difficult paths because of special physical form and movement joints mechanism. These snake robots have no passive wheels. The robot moves by friction between the robot body and the surface on which it is. The joints have been designed and fabricated in a way that each joint has two freedom grades and it may move 228 degrees in every direction. Each joint has two DC servo motors and the power is transferred from the motors output to the joint shaft through bevel gear. The flexibility of the robot makes possible to move forward, back and laterally by imitating real snake's moves. In this paper different measures have been presented in order to design and assemble the joints, motors driver, different ways to guide the robot and its vision.
Starting Page	1
Ending Page	5
File Size	414937
Page Count	5
File Format	PDF
e-ISBN	9781467363150
DOI	10.1109/RIOS.2013.6595317
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-04-08
Publisher Place	Iran
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Shafts Locomotion Snake robot Servo motor Robot sensing systems Mobile robots Joint Joints Servomotors
Content Type	Text
Resource Type	Article

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