Gatra Raditya By
Gatra Raditya 11111099
BACHELOR’S DEGREE In
MECHANICAL ENGINEERING – MECHATRONICS CONCENTRATION FACULTY OF ENGINEERING AND INFORMATION TECHNOLOGY
SWISS GERMAN UNIVERSITY EduTown BSD City
Tangerang 15339 Indonesia
June 2015
Gatra Raditya STATEMENT BY THE AUTHOR
I hereby declare that this submission is my own work and to the best of my knowledge, it contains no material previously published or written by another person, nor material which to a substantial extent has been accepted for the award of any other degree or diploma at any educational institution, except where due acknowledgement is made in the thesis.
Gatra Raditya
_____________________________________________
Student Date
Approved by:
Kirina Boediardjo, ST, M.Sc
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Thesis Advisor Date
Dr. Ir. Prianggada Indra Tanaya, MME
_____________________________________________
Thesis Co-Advisor Date
Dr. Ir. Gembong Baskoro, M.Sc
_____________________________________________
Dean Date
Gatra Raditya ABSTRACT
PASSIVE WHEELED SNAKE ROBOT:
MODELLING, SIMULATING, ANALYSING
By Gatra Raditya
Kirina Boediardjo, ST, M.Sc, Advisor Dr. Ir. Prianggada Indra Tanaya, MME, Co-Advisor
SWISS GERMAN UNIVERSITY
The development of snake robot has been performed at SGU. It focused on the movement of passive and active wheeled design development and simulation. The problem found was the stability of locomotion in using active wheel. The study is focused on the design and construction of passive wheeled and wheel-less snake robot model. Through simulating the variation of length and the presence of wheels, the behavior of the robot system is observed. Based on the accuracy, each robot model is compared to the mathematical model. The joint behaviour on different parameter and locomotion, the power consumption are observed and analyzed. The simulation result, through the case studies, will relate not only dependent mechanical parameters, but also electric power consumption.
Keywords: Mobile Robot, Snake Robot, Snake Locomotion, Lateral Undulation, Sidewinding, Simulation
Gatra Raditya
© Copyright 2015 by Gatra Raditya All rights reserved
Gatra Raditya DEDICATION
I dedicate this works to my pet hamster
Gatra Raditya ACKNOWLEDGEMENTS
I wish to thank my parents and families for the everlasting support in my education.
I would like to thank Kirina Boediardjo, B.Sc, M.Sc, my thesis advisor, who given me moral support and ideas throughout this thesis.
I would like to thank Dr. Ir. Prianggada Indra Tanaya, MME, my thesis co-advisor, who has given me inspiration and thoughtful comments on this thesis.
I would like to thank Benarivo my thesis partner, for the cooperation and helps throughout this thesis.
I would like to thank all Mechatronics batch 2011 students with whom I had share joy and laughter for the last 4 years.
Gatra Raditya TABLE OF CONTENTS
Page
STATEMENT BY THE AUTHOR ... 2
ABSTRACT ... 3
DEDICATION ... 5
ACKNOWLEDGEMENTS ... 6
TABLE OF CONTENTS ... 7
LIST OF FIGURES ... 10
LIST OF TABLES ... 12
INTRODUCTION ... 13
Background ... 13
Thesis Purpose ... 13
Thesis Problem ... 13
Thesis Scope ... 14
Thesis Limitation ... 14
Short Methodology ... 14
Thesis Organization ... 15
LITERATURE REVIEW ... 16
Introduction ... 16
Snakes Biology ... 16
Anatomy of Snakes ... 16
Locomotion of Snakes ... 17
Overview of Snake Robots ... 20
Active Wheels Snake Robot ... 20
Overview of Passive Wheels Snake Robot ... 20
Overview of Wheel-Less Snake Robot ... 21
Apodal Robots ... 22
ACM Robots ... 22
Amphibot ... 23
Tjondro’s Snake Robot ... 24
Siahaan’s Snake Robot ... 25
Robot Behaviour Analysis ... 27
Robotic Simulation ... 28
Gatra Raditya
METHODOLOGY ... 30
Introduction ... 30
Mathematical Kinematic Model... 30
Discrete Serpenoid Curve Method ... 31
Discrete 3D-Curve Method ... 32
Modelling and Simulation Overview ... 33
Modelling ... 33
Simulation ... 35
V-REP Overview ... 37
Mechanical Design ... 37
Joint Types ... 39
Scene Hierarchy ... 40
User Interface ... 41
Lua Programming ... 42
Graph ... 43
Simulation Analysis ... 43
Postural ... 44
Torque Analysis ... 46
Power Consumption Analysis ... 47
Concluding Remarks ... 49
RESULTS AND DISCUSSION ... 50
Introduction ... 50
Model Modification ... 50
29 Segments Passive Wheeled Snake Robot ... 50
Wheel-less Snake Robot ... 52
Postural Analysis ... 54
Lateral Undulation ... 54
Inchworming ... 62
Torque Analysis ... 68
Lateral Undulation ... 68
Sidewinding ... 73
Power Consumption Analysis ... 77
Lateral Undulation ... 78
Gatra Raditya
Comparison with Previous Work ... 85
CONCLUSIONS AND RECOMMENDATIONS ... 86
Conclusions ... 86
Recommendations ... 87
GLOSSARY ... 88
APPENDIX A – PURE SHAPES OF ROBOT MODEL ... 89
APPENDIX B – LUA SOURCE CODE ... 91
REFERENCES ... 100
CURRICULUM VITAE ... 101
