Modeling of a snake-like robot rectilinear motion and requirements for its actuators

The paper deals with a rectilinear motion of a snake-like robot. At first the various kinds of friction models are discussed and then the mathematical model of rectilinear snake-like robot locomotion is established. Considering the isotropic Coulomb's friction model the average velocity of N-mass system is derived. Further the average velocity dependence on the number of used masses N is described through the graph. From the equation of average velocity there is the optimal number of masses N established. In the paper there are two alternative sequences of motion considered and subsequently through the simulations they are compared to each other. Finally the requirements concerning the linear actuator between two masses are described.