Kinematic analysis of snake-like robot using obstacle aided locomotion

This paper deals with an obstacle aided locomotion of snake-like robot, which is the actual problem in the field of mechatronics. Because of many snakes using this kind of locomotion, the first step and hereby the most important is a kinematic analysis. The Denavit-Hartenberg convention was applied for this purpose. By this method the position vector components of each link according to basic coordinate system placed into any obstacle was assigned. Kinematic problem is a stepping-stone to the dynamic solution.