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5 / Serpentronic: Build Your Own Robotic Snake
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FIGURE 519
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Cutting, drilling, and bending guide for the snake s tail section
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FIGURE 520
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Completed tail section
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Constructing the Head
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The snake s head will house the controller board that will sequence all of the servos in each body section and will monitor the infrared sensor The infrared sensor will also be mounted at the front of the head Cut a piece of 1/16-inch thick aluminum to a size of 3 inches 6-1/4 inches Cut, drill, and bend the piece, as shown in Figure 521 The finished piece, labeled G, is shown in Figure 522
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5 / Serpentronic: Build Your Own Robotic Snake
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FIGURE 521
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Cutting, drilling, and bending guide for the bottom head piece G
FIGURE 522
Finished head piece G
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Cut a piece of 1/16-inch thick aluminum to a size of 3 inches 33/4 inches Cut, drill, and bend the piece, as shown in Figure 523 The finished piece, labeled H, is shown in Figure 524
FIGURE 523
Cutting, drilling, and bending guide for the top head piece H
FIGURE 524
Finished top head piece H
5 / Serpentronic: Build Your Own Robotic Snake
Cut two pieces of 1/16-inch aluminum to a size of 1 inch 3-1/2 inches Bend and drill each piece according to the dimensions shown in Figure 525 These two pieces are labeled I The finished pieces are shown in Figure 526 and will be used as the side supports for the robot s head
FIGURE 525
Cutting, drilling, and bending guide for head support pieces labeled I
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FIGURE 526
Finished head support pieces
Each of the four head pieces will be assembled to form the robot s head Use five 6/32-inch 1/2-inch machine screws and locking nuts to assemble the head, as shown in Figure 527 Connect the two pieces labeled I to the bottom head piece labeled G When those are secured, attach piece H to piece G, and the two pieces labeled as I
FIGURE 527
Completed head assembly
5 / Serpentronic: Build Your Own Robotic Snake
Assembling the Snake s Mechanical Structure
Now that all of the individual pieces that make up the snake s mechanical body have been constructed, it is time to put them all together Start by connecting the servo horn linkages made up of part C and a servo horn to each of the servos of each of the six body sections, as shown in Figure 528 Place the servo horn linkage onto the servo shaft without attaching the mounting screw Turn the servo by hand all the way clockwise, and check to see if it is on a 90degree angle from the center position If it is not, then pull the servo horn linkage off and reattach it to the servo shaft at 90 degrees from the middle position Turn the servo horn linkage all the way counterclockwise, and verify that it is also positioned on a 90-degree angle from the center position Attach in place with the servo horn mounting screw that came with the servo Follow this procedure for each of the six body sections
FIGURE 528
Servo horn linkage attached to the servo
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Mount the mechanical linkage piece labeled D to each of the six body sections, as shown in Figure 529 This is accomplished by lining the single hole on the end of piece D up with the single hole on the body section (piece A) that is opposite to the servo Secure in place with a 6/32-inch 1/2-inch machine screw and locking nut with a 6/32-inch nylon washer between the mechanical linkage and the body section piece The nylon washer acts as a bearing Tighten the locking nut with enough torque to hold the parts in place, but allowing the piece to move freely Repeat this same procedure for each of the six body sections
FIGURE 529
Mechanical linkage attached to body section
Connecting the Body Sections, Tail, and Head
At this point in the robot snake s construction, the serpent form starts to take shape As each of the sections are joined, the battery packs will be added at the same time, since they will share the same fastener Start with the section that will be the tail end of the snake Locate the battery holder with the battery mounting connector attached to the opposite side, as all the others Pick a body
5 / Serpentronic: Build Your Own Robotic Snake
FIGURE 530
Battery pack attached to body section 6
section and connect the battery holder, as shown in Figure 530 Remove the locking nut that is connecting piece A and piece B of the body section Connect the battery holder, and then secure in place with the locking nut that was just removed This will be the body section that will have the tail section attached to it, and will be referred to as section 6 Locate the tail section (piece F) and line it up to body section 6 so that the 1/2-inch section on either side overlaps on top of the body section by 1/2 an inch Mark the location where the holes line up on the body section Remove the tailpiece, and then drill the mounting holes marked on the body section with a 5/32-inch bit Secure the tail piece in place with four 6/32-inch 1/2-inch machine screws and locking nuts, as shown in Figure 531
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