Development and analysis of a snake robot with flexible connectors

In this study, a snake robot with flexible connectors and distributed control system was developed and an optimal velocity planning approach was investigated under the constraints of path, kinematics and the dynamics of the robot. The robot includes five modules which are connected by flexible connectors. Each module is driven by two stepper motors and controlled in a differential way for its direction and speed by microcontrollers. The flexible connectors make the robot's motion smoother and more snake-like in its movement. However, the elastic restoring force and torque, due to longitudinal extension or compression, and lateral bending of springs greatly affect the behavior of the snake robot's movement. A properly designed robot should track the planned path accurately and smoothly. Furthermore, it would arrive at its destination in a minimum amount of time without sliding or losing steps if the optimal velocity planned by the study is applied