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ShapeShift V3.0: Robotic Snake with Enhanced Locomotion

ShapeShift V3.0 is a robotic snake designed with advanced locomotion capabilities. With increased dexterity and improved motion control, it offers various applications in industries such as power plants and chemical plants. This project aims to enhance the bot's navigation in rugged terrains and enable it to carry and deliver objects autonomously.

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ShapeShift V3.0: Robotic Snake with Enhanced Locomotion

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  1. PROJECTShapeShiftV3.0 Team Members: Chetan Arora Karthik Rangarajan Shivam Bhardwaj

  2. Project Overview • The conventional robotic snakes are inefficient in locomotion and as the size of the robotic snake increases the complexity in controlling degree of freedom increases. NYU Tandon School of Engineering (Spring 2018) ShapeShift

  3. LAB Color Space L – Lightness ( Intensity ). a – color component ranging from Green to Magenta. b – color component ranging from Blue to Yellow. References https://www.researchgate.net/figure/Lab-color-coordinates-Photoscreenprintcom_fig1_319007940 https://www.learnopencv.com/color-spaces-in-opencv-cpp-python/

  4. What we had done earlier… • Designed a robotic snake which can shapeshift using 3D printed mecanum wheel thereby increasing the dexterity of the motion and provides better applications. NYU Tandon School of Engineering (Spring 2018) ShapeShift

  5. Future upgrades This is the future! • Using actual wheels rather than PLA printed material so that the bot is capable of navigating in various environment. • Connect 2 servo motors to the joint hinge for the bot to control directions and navigate in rugged terrain. • Added servo controlled forklifts to the robot to aid in lifting and carrying the object. • Create a modular design for the robots to work in swarm which can communicate with each other and perform combined tasks. NYU Tandon School of Engineering (Spring 2018) ShapeShift

  6. Upgrades… NYU Tandon School of Engineering (Spring 2018) ShapeShift

  7. Concept design NYU Tandon School of Engineering (Spring 2018) ShapeShift

  8. Forklift design • Forklift is designed using servo to lift objects rather than linear actuator. NYU Tandon School of Engineering (Spring 2018) ShapeShift

  9. Problems solutions • control • color • power management

  10. Challenges • Designing the joints using servos • Modifying existing bot to meet the design specification • Creating custom PCB for the bot • Replacing Karbonite gears with Metal gear servos • AA battery replaced with lipo battery NYU Tandon School of Engineering (Spring 2018) ShapeShift

  11. What we racked up so far… • Designed the robot to shapeshift from car to snake with precision control using servos. • Robot can move around forward, backward and most importantly sideways. • The bot can move like snake with ease than the conventional design. • The bot can also crawl through pipes. • The bot can carry objects easily without aid and transport where necessary. NYU Tandon School of Engineering (Spring 2018) ShapeShift

  12. Flow diagram NYU Tandon School of Engineering (Spring 2018) ShapeShift

  13. Control unit • Robot is controlled through Bluetooth app. NYU Tandon School of Engineering (Spring 2018) ShapeShift

  14. Demo NYU Tandon School of Engineering (Spring 2018) ShapeShift

  15. Applications • The bot can change shapes from conventional car mode to snake for ease in locomotion. • The robotic snake has better dexterity which can aid in pipe inspections used in nuclear power plants, gas power plants and chemical plants. • The bot can carry objects and deliver without human interventions. NYU Tandon School of Engineering (Spring 2018) ShapeShift

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