Joint Load Analysis and Load-Reducing Body Shape of a Snake-Like Robot Under Vertical Load

In this study, we propose an analysis method to evaluate the relationship between the body shape and joint loads of a snake-like robot when a load is applied to the head. A snake-like robot is composed of multiple joints connected serially, and the load acting on each joint is difficult to analyze due to the redundancy of the snake robot. In addition, the snake-like robot has multiple contact points with the environment, which makes the problem ill-posed. Slope deflection method, which is a structural analysis method for continuous beams by accounting the flexural deformations, is used in this study to analyze the moments acting on each joint. The reaction force acting on each contact point with the environment is also analyzed. The effectiveness of the proposed analysis method was evaluated through simulations and experiments with multiple body shapes. The joint load is reduced by modifying the body shape, as demonstrated through simulations and experiments. This study shows that the joint load of the snake-like robot can be reduced by using a hump body shape.