Locomotion of Snake Robot through the Pipe

摘要

The paper deals with concertina locomotion of snake robot. Mathematical model of robot locomotion is based on locomotion of natural snake. The kinematic model is derived by homogeneous transformation matrices. In the fourth section, the mechanical design of experimental snake robot LocoSnake is introduced. The robot can perform planar motion by means of segments with 2 DOF, one revolute and one prismatic joint. In the following section the simulation of concertina locomotion is done in Matlab. Simulation is compared with experiments and the conclusion are discussed.