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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

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

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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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Locate another one of the body sections and one of the battery holders Attach the mechanical linkage and the battery holder to the body section using two 6/32-inch 1/2-inch machine screws and locking nuts, as shown in Figure 532 Next, attach the servo

linkage to the body section using two 6/32-inch 1/2-inch machine screws and locking washers, as shown in Figure 532 Follow this same procedure for the rest of the body sections and battery holders Note that each alternating body section will have the servo oriented to the snake s right side and then to the top, as illustrated in Figure 533 The body segments alternate in orientation so that the first segment moves in a horizontal motion, and the next segment moves in a vertical motion This sequence repeats itself for all six segments and the head This gives the snake enough flexibility to move its body in a number of different ways in order to achieve locomotion, much the same way that a biological snake does Attach the head to body section 1 with four 6/32-inch 1/2inch machine screws and locking nuts, as shown in Figure 534 The head should be positioned so that the 1/4-inch mounting holes for the power switch and mode select push button are located on the top Now that each of the body sections, head, and tail have been assembled, manually move each section through its range of motion to ensure that nothing obstructs the movement Make any adjustments to the battery holders or mechanical linkages, if necessary

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Fabricate a 9-volt battery holder using 1/16-inch thick aluminum cut to a size of 4 inches 1 inch Figure 535 is a cutting, drilling, and bending guide for the battery holder When the battery holder is completed, attach it to the first body section behind the head This is accomplished by positioning it in the top left corner of the body section and then marking the mounting hole Drill out the hole in the body section with a 5/32-inch drill bit, and then mount the battery holder, as pictured in Figure 536 With this finished, the robot s mechanical construction is complete Next, we will focus on fabricating the robot s main controller and infrared sensor circuit boards