Design, topology optimization analysis, manufacturing and control of snake-like robot

Today, robotic systems are developing significantly with the rapid advancement of technology. In particular, biology-inspired robots have made significant progress in critical areas such as search and rescue robots. With the increase in natural disasters, the use of robots that can work effectively in tight and cramped spaces, such as earthquakes, is becoming widespread. In this context, snake-like robots stand out with their ability to operate successfully in complex and hard-to-reach areas. In this thesis, the topology optimization of a snake-like robot, which is envisaged to move in tight spaces, is carried out using the finite element method. The aim is to make the robot lighter in terms of mass and volume while maintaining structural integrity and strength. In this context, the original design of the robot was configured to consist of eight elements. Dynamic analyses were performed by modeling the serpentine and side rotational motions and these models were tested on physical prototype. The control of the robot was realized using PID control method in SimMechanics interface connected to MATLAB. This study was carried out for more efficient and effective use of snake-like robots in narrow and cramped spaces.