Design and Implementation of a Snake - Like Robot with Compact Joint Hinges

In the field of modern robotics, snake-like robots have become a research hotspot due to their high adaptability and flexibility in narrow spaces and complex terrains. These robots imitate the movement of snakes in nature. Not only do they simulate the body flexibility of snakes in structure, but they also achieve a high level of bionics in motion control. They have significant advantages in narrow or dangerous environments such as disaster rescue, pipeline inspection, and military reconnaissance. This research aims to design and implement a two-degree-of-freedom snake-like robot with seven joints. The robot adopts a modular design, and each module is driven by a two-degree-of-freedom servo, enabling it to perform serpentine motion, rolling, and creeping gaits. By controlling the angle change of the servo through a sine wave function, combined with steering control and mechanical structure optimization, this paper expects to achieve a highly adaptable snake-like robot that can carry out tasks in various environments. The optimization of the mechanical structure takes into account the robot's motion efficiency on different terrains. The mechanical structure is optimized to improve its adaptability and stability in complex environments. In addition, this project uses a video transmission system based on the K210 vision chip to achieve remote WI-FI control and visual recognition functions, further enhancing the remote operation and inspection capabilities of the snake-like robot. Through the integration and optimization of these design ideas, a highly adaptable snake-like robot that can perform tasks in multiple environments has been achieved in this paper.