{rfName}
A

Indexed in

License and use

Icono OpenAccess

Citations

Altmetrics

Analysis of institutional authors

Gomez, JgAuthor

Share

Publications
>
Proceedings Paper

A Screw-less Solution for Snake-like Robot Assembly and Sensor Integration

Publicated to:2017 International Conference On Advanced Mechatronic Systems (Icamechs). 139-144 - 2017-01-01 (), DOI:

Authors: Li, GY; Verdru, P; Li, W; Zhang, HX; Gomez, JG

Affiliations

Norwegian Univ Sci & Technol, Fac Engn, Dept Ocean Operat & Civil Engn, Postboks 1517, N-6025 Alesund, Norway - Author
Univ Rey Juan Carlos, Robot Lab, Madrid, Spain - Author

Abstract

Assembly or repair of snake-like robots are often time consuming and low efficiency. This paper presents a novel approach for module improvement that can efficiently integrate sensors, micro-controllers and batteries into the snakelike robot, without needing of any tools. The implementation is built upon the GZ-I module-an open frame structure with only servo motor involved. Based on the sliding mechanism, an intermediate module accommodating two infrared sensors, one force sensor, one battery and one micro-controller, together with a terminal module used for mounting infrared sensor at each end of the snake-like robot is designed. Thus, screw-less assembling a snake-like robot can be achieved. In addition, a circuit board is developed for the micro-controller and peripherals connection. A master-slave software framework taking advantage of wireless communication capability of the micro-controller is implemented, enabling remote control/monitoring of the snake-like robot. Through a case study of sidewinding locomotion, the screw-less solution is proven to be applicable on the snake-like robot.

Keywords

DesignLocomotionScrew-less connectionSelf-reconfigurationSensor integrationSliding mechanismSnake-like robot

Quality index

Impact and social visibility

It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

  • The work has been submitted to a journal whose editorial policy allows open Open Access publication.

Leadership analysis of institutional authors

This work has been carried out with international collaboration, specifically with researchers from: Norway.

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: Last Author (González Gómez, Juan).