M-DIT POLYTECTNINC COLLEGE

ULLIYERI

APPOROVED BY AICTE, NEW DELHI, GOV.T OF KERALA

SEMINAR REPORT

ON

SNAKE ROBOTS

SUBMITTED BY

AADILMUHAMMAD IQBAL P

REG NO.

DEPARTMENT OF MECHANICAL

ACADEMIC YEAR
 CERTIFICATE

This is to certfy that the report on the seminar entitled “SNAKE ROBOT” is a bonafide

record of the work done by Aadil Muhammad Iqbal .P(Reg No.) in partial fulfillment of the

required to the award of diploma in Mechanical Engineering during the academic year 2020

to 2022 under the board of Technical Education, Kerala State

HEAD OF DEPT SEMINAR

GUIDE

Mr. Mr.

Lecturer Lecturer

ME Dept. ME Dept.

INTERNAL EXTERNAL
 ACKNOWLEDGEMENT

I would like to thank all respected teachers of Mechanical Engineering Department for giving

me such a wonderful opportunity to expand my knowledge for my own branch and giving me

guidelines to present a seminar report. It helped me a lot to realize of what we study for.

Secondly, I would like to thank my parents who patiently helped me as I went through my

work and helped to modify and eliminate some of the irrelevant or unnecessary stuffs.

Thirdly, I would like to thank my friends who helped me to make my work more organized

and well stacked till the end. Next, I would thank Microsoft for such a wonderful tool like

MS Word. It helped my work a lot to remain error-free. Last but clearly not the least, I would

like to thank the Almighty for giving me strength to complete my report on time
 ABSTRACT

Snake robots are a suitable solution for various types of applications, especially in rough

terrain or hardly accessible areas such as, for example, pipes. This article deals with a snake

robot moving in a pipe using a so-called trapezium-like travelling wave. In this paper, we

present a mathematical model of locomotion of the snake robot in a pipe of rectangular cross-

section. Subsequently, we designed a control algorithm using a trapezium-like travelling

wave. Within the control algorithm we introduced the so-called motion matrix of a

trapezium-like travelling wave that contains information about the vector of generalized

variables at any point of the locomotion cycle. The paper also presents a simulation model in

MATLAB R2019b interfacing with CoppeliaSim V4.0.0. Furthermore, in our research we

have developed an experimental snake robot with the purpose to verify the derived

mathematical model, control algorithm and simulation model. Experimental results show the

influence of certain parameters of the trapezium-like travelling wave on locomotion

properties, such as the travelled distance or the average speed of the snake robot passing

through a pipe. In the final part of this paper, experimental results are discussed and key

elements of the proposed control algorithm are highlighted.

 LIST OF CONTENTS

SL NO. CONETNT PAGE NO.

1 INTRODUCTION 1

2 DESIGN 2

3 APPLICATION 8

4 LOCOMOTION 9

5 CONCLUSION 15

6 REFERENCE 16
 LIST OF FIGURES

Fig No FIGURE NAME PAGE NO.

2.1.1 Progress of Snake 2

Robot

2.1.2 Module 4

2.2.1 Joint Models 6

4.1 Skin of Snake Robot 9

4.1.1 Coiled Structure 10

4.2.1 Parts of Servor 12

4.3.1 Partition Gait 14