This paper analyzed the locomotion of a snake robot in narrow spaces such as a pipe\nor channel. We developed a unique experimental snake robot with one revolute and one linear\njoint on each module, with the ability to perform planar motion. The designed locomotion pattern\nwas simulated in MATLAB R2015b and subsequently verified by the experimental snake robot.\nThe locomotion of the developed snake robot was also experimentally analyzed on dry and viscous\nsurfaces. The paper further describes the investigation of locomotion stability by three symmetrical\ncurves used to anchor static modules between the walls of the pipe. The stability was experimentally\nanalyzed by digital image correlation using a Q-450 Dantec Dynamics high-speed correlation system.\nThe paper presents some input symmetrical elements of locomotion and describes their influence on\nthe results of locomotion. The results of simulations and experiments show possibilities of snake\nrobot locomotion in a pipe.
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