2013-07-02:Let's build a modular snake robot

Information

• Tittle: Let's build a modular snake robot
• Event: Microbotics summer Workshop. From 2nd to 6th of July 2013
• Place: ETSIT. Universidad de Malaga
• Speaker: Juan González Gomez
• Students: 20
• Hours: 6 (session 1)
• Date: 02/Julio/2013

Abstract

This is the session 1 of the 2013 Microbotics Summer Workshop organized by the Electronic Technology department at University of Malaga. In this session, a printable modular snake robot, consisting of 9 modules is assembled and the main locomotion principles are presented.

BILL of Materials

• 10 Repyz pro modules, already assembled
• 3 Skymega boards, Arduino compatibles. These boards are used only during the session 1 for showing the different locomotion gais. In the following session the students had to program the EZ430-RF2500 boards, connected to some extension boards that include connectors for the servos and the sensors.
• 3 battery holders (for 4 AAA batteries) already assembled
• 3 pairs of mounting brackets for attaching the battery holders to the modules
• 60 M3x10 mm bolts
• 60 M3 nuts

Download

Slides

2013-07-01-Modular-snake-robots-Malaga.odp	Slides (Sources, for Libre-office 4.0)
2013-07-01-Modular-snake-robots-Malaga.pdf	Slides in PDF

Software

Before using this software, make sure you have installed the Ardusnake Library

Unimod_test1.ino	Example 1: different oscillations of 1 module. The oscillation changes when the test button is pressed
Unimod_test2.ino	Example 2: Oscillation of 2 modules. The phase difference is changed when the test button is pressed
wave.ino	Example 3: The wave. 9 independent modules are oscillation so that a wave is generated
pp_test.ino	Example 4: Locomotion of the pitch-pitch minimal configuration. When the test button is pressed, the gait is changed
pyp_gaits.ino	Example 5: Locomotion of the pitch-yaw-pitch minimal configuration. When the test button is pressed, the gait is changed
py6.ino	Example 6: Locomotion of a 6 module pitch-yaw snake

Git repository

• https://github.com/Obijuan/ArduSnake/tree/master/Workshops/2013-07-02-microbotics-summer-Malaga

Video

300|250</youtube>

Courtesy of Malakabot. Many thanks!

Pictures

Flickr Album

(Click to enlarge)	(Click to enlarge)
(Click to enlarge)	(Click to enlarge)
(Click to enlarge)	From left to right: Juan Robles de Toro, José María Torralba, Federico Coca Caba, Obijuan, Juan Carlos Joya Clarés and Enrique Norro Gañan (Click to enlarge)
Notes taken by Cristina Urdiales during the talk. Amazing drawings!!! Thanks Cristina!! :-) (Click to enlarge)

More information

Modules

• Repyz: (Wiki) (thingiverse) (Github)
• Repy 2.0: (wiki) (thingiverse) (github)
• Repy 1.1: (Wiki) (thingiverse)

Other

• Malakabot

Sobre Robots modulares

• Tesis de Obijuan sobre robots modulares: documentación, ejemplos, enlaces a todos los robots construidos, vídeos, etc...
• Módulos_Y1: Módulos para la construcción de robots modulares. Versión corte láser/manual
• Módulos_MY: Versión en aluminio de los módulos Y1
• ArduSnake:_Arduino_Modular_Snake_Robots_Library: Biblioteca para Arduino para mover robots modulares

Sobre impresoras 3D

• RepRap: Impresoras 3D auto-replicantes
• Thingiverse: El youtube de los objetos
• Objetos 3D: Objetos imprimibles
• Proyecto Clone wars: Construye tu propia impresora 3D
• Clon R2D2: El primer clon de Clone-wars

Sobre herramientas libres de diseño

• OpenScad: Herramienta libre para diseño de piezas
• Kicad: Herramienta libre para diseño de circuitos
• Freecad: Herramienta libre de CAD
• OOML: Object Oriented Mechanics. Mecánica orientada a Objetos

News

• 08/Sep/2013: This page is started

	Proyecto Clone wars: Construye tu impresora 3D opensource!
	Proyecto RepRap: Impresoras 3D auto-replicantes. El origen de la revolución de las impresoras 3D opensource
	Obijuan Academy, Tu academia rebelde! ;-)