HOW TO BUILD SNAKE ROBOT

Objective: To create a snake robot that can move like a snake.

parts:

The Robix Rascal robot kit is no toy. It is a serious educational tool that happens to be a lot of fun. The Robix Rascal robot kit lets you build custom robot arms that you control from a PC via USB 1.1/2. It can be used by school kids and it's sophisticated enough to hold interest at the university level. It can also be a productive and useful tool in industry. For example, a General Electric R&D lab uses a Robix Rascal robot kit to handle test tubes for feeding a gas chromatograph. Many custom designed robots use in the light-duty industry are made by the Robix Rascal robot kit because it is a quick, simple, and relatively inexpensive way to add robotic capabilities.

What You Get?

The Robix Rascal robot kit comes with enough parts to make all different kinds of arms (with 11 sample projects):

Hitec Modified Servo (6 Off): The modified Hitec HS422 Servo has a nominal torque of 40 oz-inches (2.9 Kg-cm). The longest dimension is 1.6" (42 mm). In the Rascal set we have also extended the nominal 10" (25cm) servo cable to approximately 34" (86cm). Electronics Interface: The computer-interface is small in size and rests on the robot arm base. It turns command from your computer into control signals for the servos. The interface also has two on/off outputs that can supply 150 milliamps of drive current for LED's, relays, solenoids, or whatever. Also included are 0-to 5-volt analog sensor inputs and an 8-bit A/D converter as well as simple on/off switch-closure inputs. Power Supply: (6V 5A universal input switcher) runs the Usbor servo controller and the servos. USB Cable: 6' (1.8 m) with molded plugs. Usbor Networkable Servo Controller: Usbor servo controller connects to your PC or Mac USB port using the supplied cable and runs up to 32 servos under software control. The Usbor also has a 32 channels of 8 bit A/D, and support for Lego sensors is in the works. CD ROM: The CD includes 40 minutes of Video. The first 10 minutes showing 11 sample Rascal projects in action. Then, a 30 minute step-by-step narrated video showing an arm being assembled and programmed. Software Control: The CD ROM contains also software that runs on windows 2k/xp, mac OS X 10.2.3 or later, Linux PC. The host software let you control the arm from either the keyboard or the mouse. Any movement or combination of movements can be stored. The motion can then be repeated with a keystroke or mouse click. A motion sequence can also be stored as a macro that can be used to control the arm under higher-level software so that a PC can control an entire system incorporating a Robix arm to do some tasks. For developers, they can program in teach mode and/or use Java with Usbor's Host libraries (C++, Visual Basic.Net, Perl, etc., also possible). Robix Rascal Links or linkages: 8 Sets of Custom Servo-to-Link Mating Parts let the robot builder connect the servo output shaft to the Rascal links by tightening only a single screw. The links are made of hardened 6061-T6 structural grade aluminum alloy, which is precision-formed before hardening with our custom die. The links are then clear-anodized for durability and appearance. The kit includes 18 links in all: 4 each of 2-, 3-, and 4-hole links, and 3 each of 5- and 6-hole links. Constructions require only about 7 to 10 links at a time, but the full 18-piece set (for than 4' (1.3 m) total length gives great flexibility in designing and proportioning your robots. The Diagonal Link has several other parts mounted to it so that it can function as a load-bearing and damping member in arm-like constructions using the Arm Base. Gripper Assembly: mates easily with two servos, one to open and close the fingers, and a second servo which acts as the gripper's "wrist". If, for example, your project is an arm with a wrist and gripper, you will have the remaining 4 servos for the other arm motions. The gripper can accommodate objects up to about .9" (~23 mm). Pivot Post Base: with pivot post and fasteners is used with the diagonal link for most arm-like constructions. This Base is now a single "wing" of machined, painted, and baked steel with non-marring urethane rubber feet. Bread Board Base is used for "generic" constructions. Servo clamps allow quick, flexible attachment of servos to this base. There are 11 Servo Clamps for you to secure servos to links and also to the Bread Board Base in a variety of configurations. Spiral Cable Wraps and twist ties allow easy "dressing" of servo wires along your robot's body. The rubber bands stretch onto links to provide gripping surfaces. Manipulanda for robot construction includes small wooden balls and plastic "tees" for pick-and-place demonstrations. The table tennis ball is used for throwing or hitting by models, and the spoon is used in ?robot Thrower? project and also just as a spoon in ?robot Coffee maker?project. Tools that are needed come with the set: includes Screw Driver, Hex Key, Safety Goggles, Caution Tape for marking the "do not enter" area around robot projects and, a set of Glides. Storage Case is a rugged multi-compartment polypropylene toolbox.

To learn: the concept of a simple and instructive procedure or "algorithm" to do the motion

Step 1: Assemble and build the Snake Robot Body and Muscle

Assemble the snake robot and servo motors as per drawing.

Step 2: Snake Robot Control and Programming

Connect the servo motor to the robotic controller.
Teach the robot by using the robotic teaching software.
Program the robot to move in a slow, sinuous motion.