Development of a bio-inspired snake robot

Razvoj i primjena radnih alata podrazumijevaju svrhovito proširenje i uvećanje individualnih ljudskih sposobnosti. Stoga se, prirodno, u alatima istodobno nalaze odrazi ljudima karakterističnih sposobnosti. Taj se čovječji odraz u alatima posebno vidi u evoluciji industrijskih manipulatora: od jednostavnih linearnih osiju, preko prvotne uvriježenosti pojedinačnih robotskih ruku, do kasnijeg razvoja dvorukih robota. No, humanocentričnost izvedbe alata ili stroja neće uvijek biti najprikladnije i najefikasnije rješenje za neke radne zadatke i okružja, već se inspiracija za izvedbu alata treba tražiti kod drugih živih bića te u njihovim značajkama i specifičnim sposobnostima.This thesis provides a description of biorobotics with an overview of the groups of snake robots with a detailed description of each. Pipe inspection issues are described and a review of conventional equipment used for inspection was given. The benefits of using snake robots in pipe inspection are given. The concept of the snake robot for pipe inspection is proposed, which includes: a review and description of its characteristics, design of four variants of skeleton and the selection of the most appropriate forelaboration,selection of suitable materials for making all parts of the snake robot,choice of drive for actuation as a stack of dielectric elastomersand control with control components of the snake robot