Design and Implementation of a Bionic Mechanical Snake

• Main Author: 張乾益
• Other Authors: 蕭瑛星
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/57354196816620729025

碩士 === 國立彰化師範大學 === 電機工程學系 === 102 === The purpose of this thesis is to investigate the snake's movement model, implement the control circuit to complete the design of bionic mechanical snake. The proposed mechanical snake has 9 segments with 8 joints link, each joint is driven by the motor with 2 degrees of freedom movement. The overall design of the mechanical snake with 16 degrees of freedom is achieved by controlling 8 horizontal motors to rotate, like a nearly sinusoidal serpenoid curves, by passive bearing of snake’s bottom and ground friction to drive snake moving forward. The other eight vertical motors are used to complete the snake longitudinal creep forward moving. The control system implements the single chip Holtek HT48E70 as the core of the system, integrated with HT46R24 as motor drives and remote control decoder receiver. The experimental results show the successful completion of the mechanical snake moving forward, backward, looked up, turned around. The contributions of this study include the design of an efficient system to approximate simulation of the mechanical snake's movement, and enhance the snake robot's structure to 8 joints with 9 body segments. The simpler algorithm is proposed to improve the developing efficiency for the software of designing a mechanical snake.