Open AccessDesign of a motion system for 3D printed snakebot
Author(s) -
Krzysztof Mateja,
W. Panfil
Publication year - 2021
Publication title -
technical sciences
Language(s) - English
Resource type - Journals
eISSN - 2083-4527
pISSN - 1505-4675
DOI - 10.31648/ts.6820
Subject(s) - servomechanism , drivetrain , servomotor , servo , torque , automotive engineering , electric motor , engineering , robot , servo drive , computer science , control engineering , simulation , mechanical engineering , artificial intelligence , physics , thermodynamics
This article presents the results of work related to design, analysis and selection of the electric motors, servos and elements of motion system for 3D printed snakebot. Electric motors and servos had to meet a number of requirements like dimensions, torque, RPM. The drivetrain allowed to drive the snakebot and rotate system allowed to torsional movement between adjacent robot modules. CAD model and analysis allowed to select the proper elements of drivetrain and rotate system. We built test stands and after verification we built the prototype. Next step after building the robot was to carry out tests to verify the mobility of the snake robot. We checked, among others, movement of servos in different planes, snakebot speed, driving at angle (up and down).