Robotic Snake Double Actuated Five-Bar Mechanism
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Solution Overview
Problem
Existing 2 DOF robotic snakes require a complex number of joints to exhibit rectilinear, sidewinding, and turning motions, making them cumbersome for efficient movement in confined areas.
Innovation Solution
A robotic snake design utilizing a double actuated five-bar mechanism with revolute joints and friction anchors, allowing for two degrees of freedom motion, enabling rectilinear, sidewinding, and turning capabilities with fewer joints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If existing 2 DOF robotic snakes use multiple joint mechanisms (5 revolute and 3 prismatic joints) to achieve rectilinear and turning motions, then the robotic snake can exhibit required movements, but the device complexity increases significantly
Solution Approach 1:
The robotic snake body is divided into multiple identical segments, each containing a standardized 5-bar mechanism with two revolute joints. This segmentation allows the complex motion capabilities to be distributed across simple, repeating modular units, reducing overall system complexity while maintaining versatility.
Solution Approach 2:
Each 5-bar mechanism segment is designed to perform multiple functions: it can produce rectilinear motion, turning motion, and contribute to sidewinding motion. This multi-functionality eliminates the need for separate specialized joints for each motion type, thereby reducing device complexity while maintaining adaptability.
2Ease of operation
If existing robotic snakes use 7 links and 8 joints to achieve rectilinear and turning motions, then the motion requirements are met, but the number of joints and links increases making the mechanism cumbersome
Solution Approach 1:
The 5-bar mechanism incorporates dynamic coordination between the two revolute joints, where the joints are actuated in a coordinated manner to produce different motion patterns. This dynamic approach allows a smaller number of joints to achieve multiple motion types that would otherwise require more static, specialized joints.
Solution Approach 2:
By changing the actuation parameters (rotation angles and speeds) of the two revolute joints in the 5-bar mechanism, the robotic snake can transition between different motion modes (rectilinear, turning, sidewinding). This parameter-based control reduces the need for additional physical joints while maintaining ease of operation across different motion requirements.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The design simplifies the joint mechanism, enabling the robotic snake to efficiently perform three types of motions with reduced complexity, enhancing its ability to navigate through confined spaces.
Implementation Method 1
a first friction anchor; a second friction anchor
Data Source
AI summary
A robotic snake comprising a plurality of friction anchors, a plurality of segments and a plurality of servo motors are disclosed. Each of the plurality of segments includes a first link and a second link connected at a first joint, a third link connected to the first link at a second joint, a fourth link connected to the second link at a third joint, a fifth link connected to the third link at a fourth joint. The simultaneous rotation of third link and fourth link of each of the plurality of segments results in a translational movement and/or a rotational movement. A plurality of servo motors is configured to rotate plurality of joints. The fifth link of one segment and first link of next segment of the each of the plurality of segments act as a quaternary link serially connects each of the plurality of segments.