Serpentronic – A Robotic Snake

This project was completely revised in 2013 to run on an Arduino platform.
New printed circuit boards were designed by Kivanc Yildiz for the controller
and servo bus. Both are available, along with an Arduino sketch in this
section. Serpentronic takes a highly focused and hardworking student
one year to construct (Vaughn Cherrin 2009).

Readings

Karl Williams, Amphibionics, Build Your Own Biologically Inspired Robot, 2003
5. Serpentronic, page 117–189

Thinkbotics - Serpentronic


Constructor: Vaughn CherrinPhotographer: Derek Wu, June 2009

Project Photographs

Serpentronic Serpentronic
Photographer - Derrick Wu, June 2009

Click on the images to view more photographs of Serpentronic projects at Churchill.


Serpentronic Arduino Controller, Bus & Sketches

An Arduino controller and servo bus was successfully breadboarded
and tested by Kivanc Yildiz (2012–2013). He designed a printed circuit
board for both the controller and the servo bus using Proteus Isis.
With the assistance of Mr. Ahmet Yildiz, P.Eng, a computer program,
Slither, was added to this resource package.
Each of the six female servo connectors is mounted directly to a male
header soldered to the bus. Traces for a common ground and power
supply (Vcc) simplify the wiring harness. Each signal connector to the
servo has its own strain relief hole. Insulated, twenty-two gauge (AWG)
stranded copper wire completes the harness attachment to the controller.

Project Photographs

Serpentronic Serpentronic Grip Back
Photographs, Kivanc Yildiz, 2013

Video of Bench Test

https://docs.google.com/file/d/0B2D-V6h3MGkUdkkyMFZ5TXgyRGc/edit

Arduino PCB Masks (Proteus Isis)

ControllerServo Bus

Kivanc Yildiz (Grad 2013) contributed the designs.

Arduino Sketches

Kivanc Yildiz, 2013

Slither (Kivanc Yildiz)

Construction Drawings

Click the image to view the .pdf file or the text below it for the .dwg file.

Body Segment Body A Body B
Body Segment Body A Body B
Body Linkages & Battery Pack Mount Bottom Head Top Head & Head Support
Body Linkages & Battery Pack Mount Bottom Head Top Head & Head Support
Tail Body A Templates Body B Templates
Tail Body A Templates Body B Templates
Link Templates Head Templates CS-60 Servo
Link Templates Head Templates CS-60 Servo
Servo Wheel Drilling Jig for Servo Wheel
Servo Wheel Drilling Jig for Servo Wheel