Study on climbing locomotion mechanism of snake robot with universal unit

Snake robot with universal unit is presented and studied in this paper. The universal unit greatly improves snake robot's dexterity in space, complexities in actions and varieties in kinetic pattern. The balance principle of the snake robot during climbing is analyzed. To imitate a biological snake to climb, inchworm locomotion gait along the direction of isometric spiral curve is adopted. Motion parameters functions of the snake robot are derived.