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  • 1. George Rahul Paul (S7 A,17)Meenu Saji (S7 B,28)Titto Thomas (S7 A,47)Tony Mohan Varghese (S7 A,48)Vidya Sekhar (S7 B,50)
  • 2. Snake Robots: What & Why ? • Snake Robot -Multiple actuated joints implying multiple degrees of freedom. • superior ability to flex, reach, and approach a huge volume in its workspace with infinite number of configurations. • Hyper redundant robots. • Advantages of Serpentine Motion: • Stability, Terrainability, Traction • Redundancy, Modular structure. • Applications • Rescue and Military Operation • Exploration, Inspection • Medical • Hazardous Environment
  • 3. In scope • 3D Locomotion • Off site control using PC • Real-time video transmission • Obstacle avoidance during movement • Environmental parameters detection and analysis
  • 4. 3D locomotion • Snake robot consist of 8 modules with 2 servomotors each • Caster wheels (Passive) provided to compensate for the friction coefficient • Motions: 1)Terrain-adaptive locomotion • Implemented by mechanical links, servomotor, pressure sensor • PWM signals from PIC to control servomotors • Pressure sensors : proper up-hill and down-hill motion 2) Collision-free Locomotion • IR sensor for Collision-free path
  • 5. Mechanical specification SPECIFICATIONS DETAILS Number of joints 16 Size of link(mm) 130x62x77 Weight of link(Kg) 0.28 Motion Range of joint(deg) [-90,+90] Actuators Servo motor, (FUTABA S3375 – 5Kg cm Stall Torque) Sensors Pressure Sensor(INASTOMER) IR sensor (SHARP GP2YOA710KOF)
  • 6. Elements of control • Servomotor : 16 such servomotors are used to control motion • Stall Torque :5Kg cm • Operating voltage : 6V • Micro-controller: DS PIC33FJ256GP710 •16 bit digital signal controller •256KB flash memory •Multichannel PWM •2 UART Modules •To generate 16 PWM signals to the servo motors •Processing of data from sensor and monitoring motion of robot
  • 7. Offsite control using PC • XBEE : transmits data from snakes body to the PC and vice-versa for motion control Features: •Operating Frequency:2.4 GHz •1mW Wire Antenna •Supply Voltage:3.3V @ 50mA •Data Rate:250kbps (Max) •Range of 30 meters indoor or 100 meters outdoor • Data displayed on front – end VB User Interface
  • 8. Real Time Video Transmission • Wire-less Camera used for real-time video transmission Features: •1.2GHz Wireless Surveillance Camera Kit •Operative range=150 feet •Gives real time color video with zero delay •380 lines resolution •Power : 9V Battery or AC Adapter • Based on video , control signals for micro-controller are generated
  • 9. Obstacle Avoidance During Movement • IR Sensor: For the obstacle-less motion of the robot and range determination Features: •Provides ambient light immunity •IR LED and Photo Diode PairEnvironmental Parameters Detection and Analysis • Temperature Sensor : LM 35 •Operating Range: -55°C to +150°C
  • 10. Power Management •On board Power Source: •Lithium ion Polymer (Li Po)Battery pack - 7.4V,1600mAh •LM 317-voltage regulator • Output voltages – 5v,3.3v •Battery Charging : •LiPo charging SMPS •LiPo Charging Chip •MCP73831 : fully-integrated, single-cell, Li-ion/Li- Polymer charge-management controller
  • 11. Block Diagram SENSORS WIRELESS WIRELESS CAMERA CAMERA DSPIC RECEIVERSERVO 33FJ256GP710 XBEE XBEEMOTOR MAIN RECEIVER TRANSMITTER CONTROLLER PC GUI IN BATTERY VB SNAKE ROBOT ON FIELD PC SIDE
  • 12. How ? • Analysis and display of sensor parameters • Display of video in real time PC • Software with GUI providing master control of the robot. • Zigbee Modules on PC and Robot side Wireless • Highly secure one-to-one communication • Sensors - IR, temperature,pressure • 8 links, 16 servo motors. Snake Robot • DSP onboard microcontroller with peripherals
  • 13. Flow chart of communication
  • 14. Thank You