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Make a Swimming Robo Snake

Nov 08, 2014

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a Swimming Robo Snake

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Make a swimming Robo-Snakeby gabriellalevine on July 31, 2012 Table of Contents Make a swimming Robo-Snake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Intro: Make a swimming Robo-Snake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Step 1: Bill of Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Step 2: Waterproof the servo motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 2 3 9

Step 3: Prepare the frame: cut the carbon fiber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Step 4: Prepare the frame: attach the brackets to the carbon fiber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Step 5: Prepare the frame: attach the c-brackets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Step 6: Prepare the frame: Mount the servos on the brackets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Step 7: Prepare the frame: Mount the c-bracket pairs to the servo brackets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 Step 8: Screw in the servo horn to the bracket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Step 9: Make the circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Step 10: Upload the firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 Step 11: Make a remote control transmitter, or just use xbee & computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Step 12: Wire it up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Step 13: Attach the batteries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Step 14: Add the on / off buttons, and prepare the head and tail caps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Step 15: Prepare the pump battery and elongate the body . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Step 16: Caulk the caps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Step 17: Put on the skin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Step 18: Put on the water pump . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Step 19: Take it outside! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 Related Instructables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

http://www.instructables.com/id/Make-a-swimming-Robo-Snake/

Intro: Make a swimming Robo-SnakeSneel is the name of my snake / eel swimming robot. This is documentation of hardware, software and mechanical design of Sneel_003. urethane flex tubing, microcontrollers, Zigbee wireless radio, hose clamps, wires, servo motors, titanium servo brackets, silicon, marine grease, epoxy, pond pump Sneel is a swimming robotic water-snake, constructed to explore lifelike, sinuous motion in an aquatic robot. It is designed to navigate unknown territory and extreme terrain. Sneel is inspired by Protei, (protei.org), an international project for the design of a fleet of open source, robotic, unmanned sailboats. Sneel is a development of Protei_007. Sneel_003 swimming in San Francisco, California, Spreckles Lake, Golden Gate Park:

Sneel is an open-source, biomimetic, locomotive, aquatic robot. The electromechanical design of Sneel mimics the structure and motion of a real water snake, as a test to explore swimming behavior in an undulating linear robot. The inspiration for Sneel originates from a fascination with reptilian forms of motility and the implications of modelling hardware from biological structures and functions. Sneel uses a custom-written software library to propagate an oscillating wave down a line of servo motors that comprise the robots body. The current model is a platform for the development of other low-cost snake drones, with semi-autonomous navigational control for waypoint following, and sensing capabilities for obstacle avoidance. Worldwide applications for Sneel include remote marine data collection of salinity / toxicity levels, nuclear level monitoring, pipeline or underwater exploration, fishery monitoring, and oil-collection. Sneel version 2 swimming like a real snake:

Sneel version 2, first swim in central park:

http://www.instructables.com/id/Make-a-swimming-Robo-Snake/

Step 1: Bill of MaterialsMechanical hardware: 5x Lynxmotion servo brackets 5x Lynxmotion C-brackets 5x injection molded servo hinge urethane dust collection tube, 5' x 2.5" convoluted hose clamp 5/16" tubing 5/16" hose clamp 2x shop vac 2.5 to 1.25" vacuum reducer 5x servo bracketshttp://www.seeedstudio.com/depot/bracket-for-rb421-servo-p-939.html?cPath=0 urethane sealant marine grease marine epoxy sealant o rings carbon fiber 3x (1/32", 1"x12" strips) rubber about 1/8" thick, 2"x10" at least, like this neoprene works well loctite (green) nylon string as a tether optional: inner tube or valve for positive pressurizing with a bike pump silica gel packs electronics : 10 Servo motors (I recommend these Hitec ones with Karbonite gears but these are a bit pricy. Whatever you get, the nylon gears will ear out quickly so I warn against them) 3 6V NiMh battery packs Arduino UNO 1 seeeduino mega Xbee explorer 2x xbee series 1 xbee wireless shield servo motor shield servo extension wire xbee breakout + 2 rows of 10 male header pins + 2 rows of xbee 2mm female headers supplies : wires needlenose pliers angle snips wire strippers small screwdriver 4-40 screws, lock or toothed nuts, and bolts 2-56 screws, lock or toothed nuts, and bolts solder iron + solder hack saw drill or drill press 3 mm drill bit optional: dremel

http://www.instructables.com/id/Make-a-swimming-Robo-Snake/

http://www.instructables.com/id/Make-a-swimming-Robo-Snake/

http://www.instructables.com/id/Make-a-swimming-Robo-Snake/

http://www.instructables.com/id/Make-a-swimming-Robo-Snake/

http://www.instructables.com/id/Make-a-swimming-Robo-Snake/

http://www.instructables.com/id/Make-a-swimming-Robo-Snake/

Step 2: Waterproof the servo motorsSee this instructables I made about waterproofing servo motors. But briefly: -apply silicon marine sealant around the two seams in the plasitc of the servos, around the spot where the wires are inserted, and where the screws are mounted on the bottom. -Let the motors dry for 24 hours... -Unscrew the servo horn (the round plastic top of the servo motor). -Apply petroleum or marine grease around the toothed shaft, and slip an o-ring around the shaft. -Put back on the round servo horn. Make sure it is centered (turn it one direction and make sure that it rotates about 90 degrees from center one direction and 90 degrees the other direction). -Screw back on the circular plastic servo horn.

http://www.instructables.com/id/Make-a-swimming-Robo-Snake/

http://www.instructables.com/id/Make-a-swimming-Robo-Snake/

Step 3: Prepare the frame: cut the carbon fiber-With a hacksaw, cut the carbon fiber into 4 inch pieces (each 12" x1" strip should be cut in 3 parts). I used a dremel to round the jaggedy corners. -Lay out one of each servo bracket 3 inches apart. Mark on the carbon fiber where the two large holes in the brackets line up, so you can drill here to screw