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Experimental Assessment of the Performance of the Snake Robot.

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Title: Experimental Assessment of the Performance of the Snake Robot.
Authors: Shubat, Hawazen N.1 hawazenomer2013@gmail.com, Mohammed, Ali H.1 ali.h.mohammed@nahrainuniv.edu.iq, Ahmed, Omer K.2 omerkalil@yahoo.com
Source: Tikrit Journal of Engineering Sciences. 2026, Vol. 33 Issue 1, p1-12. 12p.
Subjects: Pneumatic actuators, Robotics, Empirical research, Metamaterials, Three-dimensional printing, Robots, Curvature
Abstract (English): A snake robot is a bio-inspired robotic system that mimics the form and motion of a snake. The present research presents pressure-bending angle and the pressure-applied force relationships for three metamaterial-based pneumatic robot actuator models of different sizes, designed in SolidWorks and manufactured using a 3D printer. The practical results showed a direct proportionality between chamber size and bending angle. At the same time, it was noted that there is an inverse relationship between chamber size and the applied force when the pressure is held constant, as a basic design criterion. The experimental results also showed a linear direct proportionality between the pressure and the bending angle and a non-linear direct proportionality between the pressure and the applied force. The bending angle of the system with a large chamber was large, whereas that of the snake robot with a small chamber was small. [ABSTRACT FROM AUTHOR]
Abstract (Arabic): يقوم المقال بتقييم تجريبي لأداء روبوت ثعبان مستوحى من الطبيعة، يعمل بواسطة مشغلات هوائية ناعمة تعتمد على مواد متحولة (ميتاماتيريال) ذات أحجام غرف مختلفة. يوضح المقال أن زاوية انحناء الروبوت تزداد بشكل خطي مع كل من الضغط المطبق وحجم الغرفة، في حين أن القوة المطبقة تظهر زيادة تربيعية مع الضغط لكنها تنخفض عكسيًا مع زيادة حجم الغرفة. شملت الدراسة تصميم وتصنيع ثلاثة نماذج من المشغلات باستخدام الطباعة ثلاثية الأبعاد وتقوية بألياف النايلون، تلاها اختبار زوايا الانحناء والقوى تحت ضغوط محكومة. توفر هذه النتائج رؤى عملية حول السلوك الميكانيكي لروبوتات الثعبان الناعمة، ذات الصلة بالتطبيقات في مهام البحث والإنقاذ والتفتيش والاستكشاف. [Extracted from the article]
Copyright of Tikrit Journal of Engineering Sciences is the property of Republic of Iraq Ministry of Higher Education & Scientific Research (MOHESR) and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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  Data: Experimental Assessment of the Performance of the Snake Robot.
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  Data: <searchLink fieldCode="AR" term="%22Shubat%2C+Hawazen+N%2E%22">Shubat, Hawazen N.</searchLink><relatesTo>1</relatesTo><i> hawazenomer2013@gmail.com</i><br /><searchLink fieldCode="AR" term="%22Mohammed%2C+Ali+H%2E%22">Mohammed, Ali H.</searchLink><relatesTo>1</relatesTo><i> ali.h.mohammed@nahrainuniv.edu.iq</i><br /><searchLink fieldCode="AR" term="%22Ahmed%2C+Omer+K%2E%22">Ahmed, Omer K.</searchLink><relatesTo>2</relatesTo><i> omerkalil@yahoo.com</i>
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  Data: <searchLink fieldCode="JN" term="%22Tikrit+Journal+of+Engineering+Sciences%22">Tikrit Journal of Engineering Sciences</searchLink>. 2026, Vol. 33 Issue 1, p1-12. 12p.
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  Data: <searchLink fieldCode="DE" term="%22Pneumatic+actuators%22">Pneumatic actuators</searchLink><br /><searchLink fieldCode="DE" term="%22Robotics%22">Robotics</searchLink><br /><searchLink fieldCode="DE" term="%22Empirical+research%22">Empirical research</searchLink><br /><searchLink fieldCode="DE" term="%22Metamaterials%22">Metamaterials</searchLink><br /><searchLink fieldCode="DE" term="%22Three-dimensional+printing%22">Three-dimensional printing</searchLink><br /><searchLink fieldCode="DE" term="%22Robots%22">Robots</searchLink><br /><searchLink fieldCode="DE" term="%22Curvature%22">Curvature</searchLink>
– Name: Abstract
  Label: Abstract (English)
  Group: Ab
  Data: A snake robot is a bio-inspired robotic system that mimics the form and motion of a snake. The present research presents pressure-bending angle and the pressure-applied force relationships for three metamaterial-based pneumatic robot actuator models of different sizes, designed in SolidWorks and manufactured using a 3D printer. The practical results showed a direct proportionality between chamber size and bending angle. At the same time, it was noted that there is an inverse relationship between chamber size and the applied force when the pressure is held constant, as a basic design criterion. The experimental results also showed a linear direct proportionality between the pressure and the bending angle and a non-linear direct proportionality between the pressure and the applied force. The bending angle of the system with a large chamber was large, whereas that of the snake robot with a small chamber was small. [ABSTRACT FROM AUTHOR]
– Name: Abstract
  Label: Abstract (Arabic)
  Group: Ab
  Data: يقوم المقال بتقييم تجريبي لأداء روبوت ثعبان مستوحى من الطبيعة، يعمل بواسطة مشغلات هوائية ناعمة تعتمد على مواد متحولة (ميتاماتيريال) ذات أحجام غرف مختلفة. يوضح المقال أن زاوية انحناء الروبوت تزداد بشكل خطي مع كل من الضغط المطبق وحجم الغرفة، في حين أن القوة المطبقة تظهر زيادة تربيعية مع الضغط لكنها تنخفض عكسيًا مع زيادة حجم الغرفة. شملت الدراسة تصميم وتصنيع ثلاثة نماذج من المشغلات باستخدام الطباعة ثلاثية الأبعاد وتقوية بألياف النايلون، تلاها اختبار زوايا الانحناء والقوى تحت ضغوط محكومة. توفر هذه النتائج رؤى عملية حول السلوك الميكانيكي لروبوتات الثعبان الناعمة، ذات الصلة بالتطبيقات في مهام البحث والإنقاذ والتفتيش والاستكشاف. [Extracted from the article]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Tikrit Journal of Engineering Sciences is the property of Republic of Iraq Ministry of Higher Education & Scientific Research (MOHESR) and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.25130/tjes.33.1.23
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      – Code: eng
        Text: English
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        PageCount: 12
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    Subjects:
      – SubjectFull: Pneumatic actuators
        Type: general
      – SubjectFull: Robotics
        Type: general
      – SubjectFull: Empirical research
        Type: general
      – SubjectFull: Metamaterials
        Type: general
      – SubjectFull: Three-dimensional printing
        Type: general
      – SubjectFull: Robots
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      – SubjectFull: Curvature
        Type: general
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      – TitleFull: Experimental Assessment of the Performance of the Snake Robot.
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              Text: 2026
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              Y: 2026
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