Combined snake robot: Analysis and verification of designed structure

Abstract

Snake robots were realized in purpose of imitating of the snakes and worms movement. This purpose was achieved by applicable kinematic structure and segment design. After that the simulation and verification of designed structure was made with focus on the robot movement possibilities and dimensions. Advantage of introduced robot type is its simplicity and reliability of mechanism, which makes snake movement opposite robots, which are based on complex construction of wheel or track movement. In the presented structure various movement types are coupled into one snaking system. Designed system is verified by simulation and laboratory model of the snake robot segment.