Design and modeling of an autonomous multi-link snake robot, capable of 3D-motion

Abstract

Abstract. The paper presents the design of an autonomous, wheeless, mechanical snake robot that was modeled and built at Notre Dame University -Louaize. The robot is also capable of 3D motion with an ability to climb in the z-direction. The snake is made of a series links, each containing one to three high torque DC motors and a gearing system. They are connected to each other through Aluminum hollow rods that can be rotated through a 180° span. This allows the snake to move in various environments including unfriendly and cluttered ones. The front link has a proximity sensor used to map the environment. This mapping is sent to a microcontroller which controls and adapts the motion pattern of the snake. The snake can therefore choose to avoid obstacles, or climb over them if their height is within its range. The presented model is made of five links, but this number can be increased as their role is repetitive. The novel design is meant to overcome previous limitations by allowing 3D motion through electric actuators and low energy consumption.

Development of an inline inspection robot for the detection of pipeline defects

“…The pressed wall caterpillar robot is designed for rough interior pipe surfaces such as vertical and inclined pipes with rough orientations (Moghaddam et al , 2011). The wheeless robots are comprised of straight links interconnected by motorised joints with the aim of increasing the robot’s capability to move on various terrains and surfaces, either even or uneven (Bradbeer et al , 1997; Rizkallah et al , 2016). Many researchers have worked on the development of an inline pipe inspection robot.…”

“…either even or uneven (Bradbeer et al, 1997;Rizkallah et al, 2016). Many researchers have worked on the development of an inline pipe inspection robot.…”