2. Lal Surajkumar Shrikant 1181210193
SNAKE-ARM ROBOTS
Lal Surajkumar Shrikant

3. Snake Arm Robots
Snake-arm robots are also described as continuum robots and elephant’s trunk  robots although these descriptions are restrictive in their definitions and cannot be applied to all snake-arm robots.

4. Components
User Interface
Actuators
Snake Arm
Tools

5. USER INTERFACE

6. Actuators

7. SNAKE ARM

8. TOOLS

9. Principle
 A snake-arm is made up of articulating links. Both the number and length of the links can be varied giving a wide choice of final performance.
The shape and stiffness of a particular snake-arm is controlled by wire ropes that transfer mechanical power from the actuator pack into the snake-arm.
This arrangement keeps the motors and power electronics accessible and outside the confined or hazardous space.

10. Principle

12. Internal Mechanism & Parts:

13. Features Continuous diameter along the length of the arm
Self-supporting
Either tendon-driven or pneumatically controlled in most cases.

14. Applications Nuclear Decommissioning Repair and maintenance Aerospace
Manufacture and assembly: inside wing boxes, jet engines and ducts.
Automotive
Manufacture: Snake-arm robots allow structures to be assembled in a different way.

15. Assembly of Automobiles

16. Fitting of Sensors in Aircraft

17. NUCLEAR DECOMMISIONING

18. RESCUE OPERRATION

19. Working Principle
The devices move using a ‘nose-following’ principle. This means that when entering a confined space the robot’s body follows where the tip has gone — movement achieved by the coordinated motion of the entire arm. Only when the nose has entered an open space can it be moved in all directions.
In simple words World to Joint Configuration is done when robot tip reaches the target.

20. Various types of Snake –Arm :

21. Motion in confined spaces

22. THANK YOU