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5 / Serpentronic: Build Your Own Robotic Snake
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FIGURE 57
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Cutting, bending, and drilling guide for body pieces (B)
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FIGURE 58
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Finished body piece (B)
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Attach pieces A and B together using three 6/32-inch 1/2-inch machine screws and locking nuts, as shown in Figure 59 Note that piece B is attached so that it is positioned on top of piece A Continue the above procedure until all six body segments are completed
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FIGURE 59
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Completed snake body segment made up of pieces A and B
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Attach a standard servo to each body segment using four 6/32inch 1/2-inch machine screws and locking nuts, as illustrated in Figure 510 When the servo is positioned in the body segment, the servo shaft side of the servo should be attached to piece B, as shown in Figure 510 Add standard servos to the remaining body segments using the procedure above
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5 / Serpentronic: Build Your Own Robotic Snake
FIGURE 510
Standard servo attached to body segment
Cut six pieces of 1/16-inch thick aluminum to a size of 4-1/4 inches 1 inch Cut, drill, and bend each piece (C) according to Figure 511 The finished servo linkage pieces should resemble the one shown in Figure 512
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FIGURE 511
Cutting, bending, and drilling guide for servo linkage
FIGURE 512
Finished servo linkage
5 / Serpentronic: Build Your Own Robotic Snake
Take the circular, 1-inch diameter servo horn that came with your servo and line the middle mounting hole up with the 1/4-inch hole in piece C (see Figure 511) Mark the position on the servo horn where the two mounting holes line up, and drill them out with a 5/32-inch bit, as shown in Figure 513 Follow this procedure until a total of six servo horns are complete Mount each of the completed servo horns to the six servo linkage pieces (marked C) using two 6/32-inch 1/2-inch machine screws and locking nuts per linkage, as shown in Figure 514 Cut six pieces of 1/16-inch thick aluminum to a size of 3-1/4 inches 1/2-inch and drill as indicated in Figure 515 These six parts are identified as piece D, and are used as mechanical linkages to join each of the robot s body sections Next, cut six pieces of 1/16-inch thick aluminum to a size of 1-1/2 inches 1/2-inch, identified as piece E in Figure 515 Drill and bend each of the six
FIGURE 513
Servo horn with mounting holes
FIGURE 514
Servo horn attached to servo linkage
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E pieces, as shown in Figure 515 This part will be used to mount the battery holders in each of the body sections of the robot Figure 516 shows a completed mechanical linkage and battery pack mount
FIGURE 515
Construction guide for mechanical linkage and battery pack mount
FIGURE 516
Completed pieces D and E
5 / Serpentronic: Build Your Own Robotic Snake
Take one of the 2-cell AA battery holders and drill a hole with a 5/32-inch bit, 5/8 of an inch from the edge of the holder without the battery clip connectors, as shown in Figure 517 Do this for all six of the 2-cell AA battery holders Secure part E in place with a 6/32-inch 1/2-inch machine screw and locking nut so that the bent part of piece E is to the left side of the battery pack, as shown in Figure 518 Do this for five of the holders For the other holder that remains, secure part E in place so that the bent tab is oriented to the right When this battery holder is connected to the tail section, it will be fastened differently than the rest Now that all of the individual mechanical pieces have been constructed, we will build the tail and head sections and then put it all together
FIGURE 517
Battery pack drilling guide
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FIGURE 518
Battery pack with mounting piece attached
Constructing the Tail Section
The snake robot will need a tail that will be used to brace the rear end of the body and provide friction when the robot is moving forward and turning, as well as for the aesthetic purpose of completing the body The tail section is constructed using 1/16-inch thick aluminum stock Cut a piece 2-1/2 inches 8-1/2 inches File any rough edges and place the piece on a table Photocopy the cutting and bending guide in Figure 519 Use the photocopier enlargement feature so that the dimensions are exactly 2-1/2 inches 8-1/2 inches Cut the template out and use a glue stick to glue it onto the piece of aluminum of the same size Use a metal cutting band saw or hacksaw to cut the piece, as shown in Figure 519 Drill the mounting holes as indicated, using a 5/32-inch drill bit Bend the aluminum in a vise or on the edge of a table, as shown in Figure 519 The finished tailpiece is shown in Figure 520
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