Modeling and Control of a Snake Robot using SimMechanics

Abstract

Snake robots are biological inspired robots designed to locomote in an unwanted environment. The mechanism comprises of serially connected links through rotational joints capable of rotating its body in one or more plans. In this paper, snake robot model is proposed. The proposed model consists of a 10-links physically connected through joints. The aim of this work is to propel a snake robot consisting of 10-link through the n-1 rotary joint on the serpentine aisle. Structure of the entire mechanical model of a snake is created in Simmechanics, MATLAB library tool within Simulink environment. The mechanics for the motion of snake robot including dynamics, kinematics and friction force models are developed in order to find the nth link location in a 3D environment. In addition, we have also established the joint angle to activate the robot’s link on a serpenoid terrain. To control the entire movement comprising position, speed and torque at each joint of the snake robot, control system is altered. This system is further composed of 3 proportional controllers having a sensor to take measurement results from an actuator. The simulation studies showing performance of the system are conducted to determine the control parameters of the system measured through joint sensor via scope, graph and display units. From simulation results it is shown that the snake robot followed the serpentine wave motion.