A Snake-like Robot Based on Spatial Linkage Mechanism

A novel model of snake-like robot based on a spatial linkage mechanism is presented.Each module of this model has two micro servo motors which are linked by universal joints.The two motors drive two cranks,and the two cranks drive another module by two links with two spherical joints.Many motion modes including wriggling in sine wave,swerving left,swerving right and uplifting head are available by coupled actuation of the two motors on each module.The kinematics of the spatial linkage mechanism is presented.Joint’s angles and pulses can be calculated based on Serpenoid curves,and then three basic motion modes are realized by programming.