Motion analysis of snake robot segment

Abstract

The paper deals with rectilinear motion of snake robot. In the paper the dynamic model of snake robot rectilinear motion is derived and subsequently analyzed. Besides the mathematical model the simulation model in Matlab / SimMechanics is done. Both mathematical and simulation model are compared in order to shown differences concerning to displacement of snake robot segment. The differences occur because of different friction description between snake robot and surface on which it moves. In the conclusion the results of analysis are discussed.