Benarivo, Benarivo and Tanaya, Prianggada Indra and Boediardjo, Kirina (2016) Passive Wheeled Snake Robot: Designing, Constructing, Analysing. Bachelor thesis, Swiss German University.

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Abstract

The development of snake robot has been conducted at SGU. The work was focusing on active-passive wheeled snake robot. The result shows that active wheels contributed to the instability in the movement of the snake robot. It is expected, the removal of the active wheels is a possible solution to improve the stability of the robot. This work is dedicated and focusing on the development of a fully-passive wheeled snake robot. The work discusses on the designing phase of the constructed robot in association with the simulation. The method of controlling the snake robot is derived from the 3D serpenoid wave equations. In this work, dynamic analysis of a passive wheel snake robot with two yaw joints is also derived. In this robot was tested in its ability to execution of several locomotions, which are head lifting, standard serpenoid, sinus lifting and the combination of head lifting and standard serpenoid.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	Snake Robot; Locomotion; Sinus Lifting; Standard Serpenoid; Serpenoid Wave.
Subjects:	T Technology > TJ Mechanical engineering and machinery T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics T Technology > TJ Mechanical engineering and machinery > TJ210 Robots (General)
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Atroridho Rizky
Date Deposited:	04 Nov 2020 06:53
Last Modified:	04 Nov 2020 06:53
URI:	http://repository.sgu.ac.id/id/eprint/1449

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