A novel design of a snake robot with an optimized battery distribution for extended operational time

Badran, Marwan Atef and Khan, Md. Raisuddin and Toha, Siti Fauziah (2025) A novel design of a snake robot with an optimized battery distribution for extended operational time. Journal of Engineering Science and Technology, 20 (1). pp. 67-84. ISSN 1823-4690

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Abstract

We present a novel design of a battery distribution-based snake robot to prolong its operational time. Unlike traditional snake robot models, which utilize locomotion algorithms to reduce energy consumption, our design enhances energy capacity by integrating more batteries in a specific pattern. However, this arrangement increases the masses of the links, which affects the robot’s dynamics and increases power consumption. To address this challenge, our design employs battery distribution along the snake robot's body. Furthermore, we propose a multi-objective optimization algorithm for optimal battery distribution that minimizes energy consumption while maximizing power supply capacity. Simulation results demonstrate the feasibility of the proposed design, showcasing that the power supply can be increased by 100% with only 30% increase in energy consumption

Item Type:	Article (Journal)
Uncontrolled Keywords:	Energy efficiency, Lithium battery, Multi-objective optimization, Snake robot
Subjects:	T Technology > T Technology (General) T Technology > T Technology (General) > T10.5 Communication of technical information
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr. Siti Fauziah Toha
Date Deposited:	17 Feb 2025 14:43
Last Modified:	17 Feb 2025 14:43
URI:	http://irep.iium.edu.my/id/eprint/119456

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