The document outlines the design of a snake robot with the following key points: 1. It proposes designing a snake robot without wheels that uses 8 servo motors and an Arduino microcontroller for locomotion on rough terrain. 2. The robot will be 3D modeled and simulated in MATLAB and Solidworks before hardware implementation. 3. The aims are to study robot kinematics and mechanics, implement hardware and software, and understand locomotion to move like a snake. 4. Expected outcomes include uses for the robot in industries like inspection, rescue missions where it can access hard to reach places, and for military surveillance.

1. 1

2. Outlines:
 Introduction
 Literature Review
 Summary of Literature Review
 Problem Statement
 Proposed Solutions
 Implementations
 Aims & Objectives
 Methodology
 Expected Outcomes
 Timeline Review
 References
2

3. Introduction
Robotics is a branch of engineering that involve the design, manufacturing , and operation of
Robots.
Robotics overlap with Electronics, Computer Science, Artificial Intelligence Mechatronics,
Nanotechnology and Bio-Engineering.
There are different kind of robots which include;
 Stationary Robot
 Wheeled Robot
 Legged Robot
 Swimming Robot
 Flying Robot
 Swarm Robot
3

4. Introduction
Previously mentioned types of robot where some basic robots, where as wheel
robots itself include dozens of types and shape. but our discussion is not limited to
wheeled robots.
The wheel is an amazing invention, but it does not roll everywhere. Wheeled mechanisms
constitute the backbone of most ground-based means of transportation.
Unfortunately, rougher terrain makes it harder, if not impossible, for wheeled mechanisms
to move.
Reptiles are one of the creatures that exhibit excellent mobility in various terrains. It is able
to move through narrow passages and climb on rough ground and flat vertical walls.
4

5. Snake Robot:
Reptile robots mainly include Snake Robots. It has multiple actuated joints which allows
multiple degrees of freedom.
Because of multiple joints and modular structure it can move in Serpentine motion (the
way a snake moves).
Compared to wheeled and legged robot mechanisms, the snake robot offers high stability,
terrain-ability and redundancy.
And it can be used for many applications such as Rescue Missions, Military and Medical
Operations and also for Surveillance.
5

6. Literature Review:
In [1] controlling of servos and modeling of reptile was done in sidewinding motion, a 3D
model was developed for simulation which can only move in worm like motion or
sidewinding.
In [2] remembering the factors like size, power and weight they produced a module which
has a super servo and a modified hobby servo.
In [3] different previous models of reptile-robots (snake robot) are discuss with some
advancement in them and some disabilities in models. They allow to access their models and
research on them.
In [4] snake-like robot that can possessed the ability to cross over the obstacles, programming
on the snake-like movement for the snake-like robot need to be done, and with the vision
assist of the camera, the snake-like robot will able to decide the possible solutions to
overcome the obstacle.
In [5] research journal on 1st generation snake-like climber robot "Marak I" has been
discussed , where as conclusion was the vertical motion was producing more fault than
horizontal locomotion, and notably the fastest gait of locomotion was the wheeling gait. 6

7. Summary of Literature Review:
As mentioned in literature review following things can be concluded:
In [1] reptile robot with limited motion and less degree of freedom was simulated
and hardware was implemented for object avoidance and serpentine motion.
In[2] a switching power supply was designed which fit inside the servo case
allowing to run the servos efficiently at voltages anywhere between 9 and 36 volts.
In [3] different old examples of old versions of snakes were discussed and flaws
were mentioned.
In [4] language is used for programming because it is easy to understand and can be
implemented easily .this report uses microcontroller PIC 18F4520 40-pin
 In [5] this is research journal based on old version called “marak 1” which was
successful in horizontal movement and has less stability in vertical climbing . 7

8. Problem Statements:
There are given different design of snake like robot some include passive wheel and other
used active wheels to produce movement of robot like a snake , which can only be used for
smooth surface.
Snake robot’s 2D and 3D model is simulated with 2 Degree of freedom (DoF), this model
will not work on rough area as this modelling is only for smooth surface.
This model uses heavy mechanical equipment like universal joints and threads which
may affect the motor performance and they have used a logic circuit with DC motor.
The model have geared DC motor, aluminum material for actuators and joints, which is
causing problem in movement and flexibility.
The Programming is not clear, after avoiding the obstacle robot can not recognize which
direct should be taken left or right.
8

9. Proposed solutions:
In this model, there is no any kind of wheel(active & Passive) for the locomotion of snake.
Sim-mechanics and solid works can be used for modeling of 3D model simulation.
Servo motor can be used for producing reliable torque and load bearings.
Arduino can be used as a micro-controller ,which have good clock synchronization for servo
motors
Programming of Arduino can be done in such away that servos produce Serpentine Motion
and also provides the control of motion to user.
Mechanical parts will used of light weight material which can bear the load of motors and also
increase the degree of freedom in our model.
Mobile application can control the robot which is never done in case of snake robot
9

10. Implementations:
Hardware:
1. Servo motor
 8 servo motors will be used, which produces
reliable torque and load bearing capacity.
2. Arduino UNO
 This will be used as controller for whole robot
3. Wireless sensor (Xbee)
 For wireless communication. 10

11. 4. IP Camera
 For surveillance purpose
5. Mechanical Joints & Servo gears
 Body of robot will be based on these equipments.
6. Battery
 Battery used for Arduino, Servos and Sensors
11

12. Software:
Arduino IDE
MATLAB (Sim-Mechanics)
Solidworks
Wifi Bot control(Android App)
12

13. Aims & Objectives:
To study robot’s kinematics and dynamics.
To work on mechanical algorithm used in field of robotics.
To study the joints , tangents and mechanical actuators.
To work in sim mechanics using solid works for interconnection between electronics
and mechanical system of model
Deep learning of the C language used for Robot programming
To Implement the hardware and software simultaneously and work on internetworking
between these.
To understand the gaits, locomotion ,coordinates and synchronization of model.
13

14. Methodology:
ArduinoPower
Servo 2 Servo 3 Servo 4 Servo 5 Servo 6Servo 1
Wireless
Sensor
Andriod App
IP Camera
14
Shield

15. Timeline Review:
Literature Review
2 months
15
3D Modeling
2 months
Programming of Arduino
1 month
Report and Thesis
writing 1 months
Final Hardware
Implementation
1 month

16. Expected Outcome:
Clearly, this project will provide a number of benefits to both industries ,rescue and
military.
Industries would use it for different purpose such as pipeline inspection , welding of
critical areas and flexible robotic arm.
It would be used for rescue at the site of emergency ,such as bomb blast , earthquake and
fire affected areas.
This project would help military for spying , surveillance and finding hidden areas of
enemies.
This project is unique for modern industrialization , rescue system and military purposes.
This will give raise a new topic for more research on this robot and perform modification
for future applications
16

17. References:
[1] Aksel Andreas Transeth “Modelling and Control of Snake Robots”, Thesis for the degree of
philosophiae doctor Trondheim, September 2007.
[2] Cornell Wright, Aaron Johnson, Aaron Peck, Zachary McCord, Allison Naaktgeboren, Philip
Gianfortoni, Manuel Gonzalez-Rivero, Ross Hatton, and Howie Choset in Proceedings of the 2007
IEEE/RSJ International Conference on Intelligent Robots and Systems San Diego, CA, USA, Oct 29 -
Nov 2, 2007.
[3] J.K. Hopkins, B.W. Spranklin, and S.K. Gupta. A survey of snake-Inspired Robot Designs.
Bionispiration and Biomimetics, 4(2):021001, 2009.
[4] Wong Cho Giap, A project report submitted in partial fulfilment of the requirements for the award
of the degree of Bachelor (Hons.) of Mechatronics Engineering Faculty of Engineering and Science
University Tunku Abdul Rahman April,2011
[5] Locomotion Gait Planning of Climber Snake-Like Robot,Muhammad Nezaminia*, Salim Aid
Tabassum** & Ijaz Ahmed Chaudary*** Mehran University Research Journal of Engineering &
Technology, Volume 32, No.02, April, 2013 [ISSN 0254-7821].
17

18. 18