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Bidirection modeling and experimental analysis of underwater snake robot

Snakes have dedicate body and can maneuver in challenging environments. In this work, a soft snake-like robot is designed to locomote like a biological snake that can be used in search and rescue operation. The soft snake-like for underwater use has advantages of low inertia, high buoyancy, and more...

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Main Author: Na, Zhang
Format: Thesis
Language:English
Published: 2021
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://eprints.utm.my/id/eprint/98266/1/ZhangNaMSKE2021.pdf
http://eprints.utm.my/id/eprint/98266/
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spelling my.utm.982662022-11-29T02:58:59Z http://eprints.utm.my/id/eprint/98266/ Bidirection modeling and experimental analysis of underwater snake robot Na, Zhang TK Electrical engineering. Electronics Nuclear engineering Snakes have dedicate body and can maneuver in challenging environments. In this work, a soft snake-like robot is designed to locomote like a biological snake that can be used in search and rescue operation. The soft snake-like for underwater use has advantages of low inertia, high buoyancy, and more structural flexibility. Currently, the use of multi-redundant thin McKibben actuators for soft snake-like robot was not yet explored. Addressing this gap, a soft snake robot model using Finite Element (FE) will be developed. The FE model will be developed and used to investigate the snake bending motions in Matlab Simulink with Simscape Multibody Library (SML). Next, the actual fabrication of the robot will be validated with the simulated FE model using redundant mechanism of 10 McKibben actuators attached on a plastic plate. The structure of this robot uses 32 cm of a thin non-rigid plastic plate with five thin muscles at both sides of the body. Each thin muscle has 2.0 mm outer diameter with internal 1.3 mm silicone tube. The manipulator will be tested with different pressure and frequencies to perform various bending motions. Tracker application will capture every phase of the bending body and movements for analysis of the robot’s movement. It is expected that the snake-like robot can move and the errors of bending angle between simulation and experiment are less than 5%. 2021 Thesis NonPeerReviewed application/pdf en http://eprints.utm.my/id/eprint/98266/1/ZhangNaMSKE2021.pdf Na, Zhang (2021) Bidirection modeling and experimental analysis of underwater snake robot. Masters thesis, Universiti Teknologi Malaysia, Faculty of Engineering - School of Electrical Engineering. http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:144552
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TK Electrical engineering. Electronics Nuclear engineering
Na, Zhang
Bidirection modeling and experimental analysis of underwater snake robot
description Snakes have dedicate body and can maneuver in challenging environments. In this work, a soft snake-like robot is designed to locomote like a biological snake that can be used in search and rescue operation. The soft snake-like for underwater use has advantages of low inertia, high buoyancy, and more structural flexibility. Currently, the use of multi-redundant thin McKibben actuators for soft snake-like robot was not yet explored. Addressing this gap, a soft snake robot model using Finite Element (FE) will be developed. The FE model will be developed and used to investigate the snake bending motions in Matlab Simulink with Simscape Multibody Library (SML). Next, the actual fabrication of the robot will be validated with the simulated FE model using redundant mechanism of 10 McKibben actuators attached on a plastic plate. The structure of this robot uses 32 cm of a thin non-rigid plastic plate with five thin muscles at both sides of the body. Each thin muscle has 2.0 mm outer diameter with internal 1.3 mm silicone tube. The manipulator will be tested with different pressure and frequencies to perform various bending motions. Tracker application will capture every phase of the bending body and movements for analysis of the robot’s movement. It is expected that the snake-like robot can move and the errors of bending angle between simulation and experiment are less than 5%.
format Thesis
author Na, Zhang
author_facet Na, Zhang
author_sort Na, Zhang
title Bidirection modeling and experimental analysis of underwater snake robot
title_short Bidirection modeling and experimental analysis of underwater snake robot
title_full Bidirection modeling and experimental analysis of underwater snake robot
title_fullStr Bidirection modeling and experimental analysis of underwater snake robot
title_full_unstemmed Bidirection modeling and experimental analysis of underwater snake robot
title_sort bidirection modeling and experimental analysis of underwater snake robot
publishDate 2021
url http://eprints.utm.my/id/eprint/98266/1/ZhangNaMSKE2021.pdf
http://eprints.utm.my/id/eprint/98266/
http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:144552
_version_ 1751536170984013824
score 13.211869

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