Robotics: Snake-like Robots Robotika: Snake-ako roboti
Dr. Gavin Miller has been investigating Dr Gavin Miller vyšetrujú snake robots had roboty for over ten years. viac ako desať rokov. His first models, S1 and S2, use one servo at each joint. Jeho prvé modely, S1 a S2, použite jednu serva na každom kĺbe. S3 used a pair of servos to create a sidewinding motion along with the more common horizontal undulations. S3 použitá dvojica serv vytvoriť sidewinding pohyb spolu s bežnejšie horizontálne vlnenie. S4 was an attempt to power the snake with just one motor, but ran into problems because of high torque in the u-joints. S4 bol pokus o moc hada s jedným motorom, ale narazil na problémy kvôli vysokým krútiacim momentom v u-kĺby. S5 was the first to have all CNC parts, which made for a more compact package. S5 bol prvý mať všetky CNC diely, ktoré sa pre viac kompaktnom balení. The larger snake did require the use of a second microprocessor. Väčší had to vyžadujú použitie druhého mikroprocesora. S6 was another attempt at a single motor snake, this time using a complicated gear train. S6 bol ďalším pokusom o jednotlivých motorových had, tentoraz pomocou zložité súkolia. It still had problems. Je stále ešte problémy. S7 is the most recent prototype and is an attempt at rectilinear motion like that of a python (undulations in the direction of movement). S7 je najnovší prototyp a je pokus o priamočiary pohyb, ako je to python (vlnenie v smere pohybu).
