MemoSnake

Abstract

Introduction: When navigating through tight and delicate environments, steerable tools are highly desired. Follow-the-leader locomotion, as in the biological snake, is a solution that is obtained with shape memory control. The often used electric equipment to control the shape makes the current state-of-the-art of snake-like robots too complex. This thesis focused on a snake-like system using mechanical shape control to generate forward motion, to analyze the motion and comment on the expected behavior. Method: A 3D Simulink model was created with friction between the snake-like system and the surroundings as an important relation. A pre-defined sinus wave was passed through the snake-like system to analyze the motion. A low-cost, 3D printed, prototype was developed to validate the friction relation of the model. The prototype contains a belt feature with pre-defined path as shape control system and a snake-like system with four wheeled segments. Different configurations were assessed in the model by changing the wheel axis length, sinus amplitude and sinus frequency. Results: The prototype validated the realistic friction parameters in the model. Given the results of the model, the snake-like system creates forward motion by pushing against the surroundings when a sinus wave is pushed through the system. The wave parameters have a significant influence on displacement. When the configuration of the snake-like system creates more friction with the surroundings, the system is able to push itself further forward and generates more forward displacement. Conclusion:It is demonstrated that forward motion is possible when a snake-like system is connected to a mechanical shape control system. Now, the next step is to investigate random paths, to enable adaptable mechanical shape control being applied.