Snake-shaped robot module that bends smoothly due to the interlocking of crossed links connected in series

Abstract

Snake robots are suitable for work on irregular ground, such as disaster sites with many obstacles, or in areas that are too dangerous or too narrow to enter. In this paper, we developed a snake-shaped robot module that enables smooth bending in three dimensions using crossed links, and reduces the number of motors by using interlocking gears between crossed links. This snake-shaped robot module also has the advantage of being constructed of hard materials and having a high payload. In the first half of this paper we describe the design and mechanics of this new snake-shaped robot module. In the second half of the paper, we describe the stiffness test of this new snake-shaped robot module.