Slitherbot

-  "Ribs" and skin are 3d printed

-  Snake has 16 ribs, each with a servo motor

-  Servos are controlled by an Arduino Nano MPU module

-  Adafruit 16 channel servo controller

-  Proximity switch in head so it doesn't bump into things

There were difficulties making this project:

After building a snake and watching it move back and forth but not forward I realized there were two many design errors to start and to many errors made in construction (my bad!). So.... I created SLITHERBOT2.  Go to the page to see the enhancements and new build instructions.

• The connector between the rib and servo wasn't made correctly.  Once all the servos are in place, it is difficult/impossible to tighten the screws on the back of the servo.  The servo behind it is in the way.  Screw attachments should have been on top, for easy access.

• No specifics were given for the wheel attachments.  I used an M3 screw for the axle, secured at the end in the bottom part of the rib.

• The swivel on the bottom of the servo mount that allows the servo to swivel was too short and didn't contact the hole it was supposed to swivel in.  I modified the part with 5mm extension.

• The cable wire guide was made separate from the main rib assembly, requiring two screws to secure it.  I modified the rib so the guide was part of the rib - no screws required.

• The caboose is very tight for room.  I had to cut some of the supports off the top so I could get access to inside.  I use a big battery because there are 16 servos - lots of current required.
• The program had few comments regarding how to modify the working parameters.

• Each servo/rib requires 3 wires but that would be too many to string from head to tail, so I used 16 small (AWG 24) for the servo signal, and two bus wires for +V and common.  Initially I used a solid wire but that put too much stress on the servos and the snake would not "slither", so I removed it and used a flexible wire with heat shrink protecting the parts I didn't want to connect to the ground bus which was one unprotected (no insulation) wire.  The result was only 18 wires were required.  (19 if you count the proximity switch in the head.)

• The skin printed well with TPU filament. I tried black, green and red, considering the orangy-black ribs underneath and decided red would be best.  He's a malnourished snake...his ribs show.