Design of a cable-driven snake-arm robot

• Main Author: Cai, Lirong
• Other Authors: Yeo Song Huat
• Format: Final Year Project
• Language: English
• Published: 2009
• Subjects: DRNTU::Engineering::Mechanical engineering::Robots
• Online Access: http://hdl.handle.net/10356/16948
• Institution: Nanyang Technological University

In recent years, much research has been done on the snake-arm robot due to its wide range of potential applications. The main advantage of a snake-arm robot is the ability to access restricted spaces beyond the reach of existing robots. As such, snake-arm robots can do tasks which have limited access. There are two types of snake-arm robot available. One is serpentine type and the other is discrete type. The available snake-arm robots, as well as snake robots, were studied. Discrete type of snake-arm robot is more popular than the continuum type due to its easier motion control. Wide ranges of the actuation technologies and the possible applications of the snake-arm were studied. Four conceptual designs of snake-arm segments are proposed and evaluated. The selected design consists of a revolute joint, and each joint is controlled by 2 cables. Unlike the existing snake-arm robots design, the actuation systems are located outside the manipulator. The designed snake-arm robot is lightweight and easy to control. One of the potential applications of the designed robot is for aircraft inspection. Controlling program was developed using LabView software to control the robot based on the user input of the joint rotation.