Snake arm robot pdf file

It is designed to be light weight and inexpensive to be the perfect introduction to robotics. Design and analysis of a family of snake arm robots connected by compliant joints article pdf available in mechanism and machine theory 77. The scope of this paper is to introduce, describe and teste a novel design of continuum robot which has a twinpivot compliant joint construction that minimizes the. Try your hand at controlling a snakearm robot in a. Analysis of underactuated snake arm robot semantic scholar. North sea is called snake arm, a technology used in other onshore industrial settings, but never before in an offshore oil and gas environment. Spatial snakearm robots spatial snakearm robots are designed with two degrees of freedom at each joint, allowing the arm to snake through the environment. Pdf snake arm robots have flexible continuous constructions which can be used for accessing confined places in many fields, e. The rande prototype will provide greater reach and better positioning and coupling than can be achieved by a human inspector inside the same confined space. Pdf design and analysis of a family of snake arm robots. Pdf a curvilinear snake arm robot with gripperaxis. The structure of the robot enables it to move without wheels. Snakearm robots with a slender and flexible body have many potential applications in aerospace, nuclear and surgery industry.

A snake arm robot has many segments and belongs to the family of hyperredundant robots. Easily maintainable with through life costs in mind, the system has been designed with easily serviceable and replaceable parts. Pdf developments in snake robot modeling and locomotion. A lasercutting robotic snake has been put to work on the highly radioactive core of the redundant dragon reactor. Pdf design and motion planning of a mechanical snake. Bioinspired tendonoperated continuum robotics youtube. Public 2012 oc robotics snake arm simulator snake arm simulator try your hand at controlling a snake arm robot in a variety of environments. Figure 2 snakearm robot mounted on a kuka industrial robot the snakearm is the long slender proboscis, which is mounted on a standard kuka industrial robot.

Oc roboticsmagnox dragon lasersnake deployment youtube. Whether in aircraft assembly, nuclear power stations or the inspection of sewage systems. The high number of degrees of freedom allows the arm to snake along a path or around an obstacle hence the name snakearm. Snakearm robots are designed with a hollow core, allowing cabling, hoses and other equipment associated with the tool to be routed through the centre of the arm. Traditional robots fail to accomplish such work limited by size of joints and degrees of freedom dof, while continuum robots become a hot spot in recent research. It is constructed of a series of articulated links, each one with a motor and linear solenoid. Snake robots may one day play a crucial role in search and rescue operations and firefighting where it may either be. Curved tendons can provide new capabilities to robots that look and act like elephants trunks or octopus tentacles. Design and motion planning of a mechanical snake um personal.

Snakearm robots are also described as continuum robots and elephants trunk robots although these descriptions are restrictive in their definitions and cannot be applied to all snakearm robots. The paper presents the design and motion planning for a mechanical snake robot that was built at the university of michigan. The snakearm can access small access holes and has a high flexibility. Screenshot from csail robotic arm slithers like a snake through pipes by mitcsail on youtube. A curvilinear snake arm robot with gripperaxis fibreoptic image processor feedback. The mechanical design of snakearm robot ieee conference. Developments in snake robot modeling and locomotion. The snakearm robot can be sleeved, providing protection from harsh or contaminated environments, without restricting the robots motion. A snakearm robot is a slender hyperredundant manipulator. Figure 3 shows a snakearm robot developed for airbus by oc robotics reaching into a mockup of a rib bay in a wing and conducting swaging tasks.