Design of a Bevel-Disk-Bevel Cam for a 360 Degree Friction Inducing Mechanism in a Snake Robot

摘要

Snake robots are versatile in nature by moving on different kinds of surfaces. Frictional forces play a vital role in propelling the snake robot. While moving in cluttered environments, there is a chance for the robot to topple from its initial orientation. Even if it topples, it needs to propel itself and explore the further areas in the toppled position which has different orientation than the initial one. Mechanisms to set right the snake robot to its initial position make it heavier. Hence there is a need for a 360 degree friction inducing mechanism which aids in propelling the snake robot even if it topples from its original position. This friction inducing mechanism is created using a bevel-disk-bevel cam whose design is explained in this paper.Keywords: Bevel Cam, Bevel-Disk-Bevel Cam, Friction Inducing Mechanism, 360o friction