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

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