Analysis of kinematics and dynamics of snake-like robot with joints of 4-DOF

Snake-like robot is more and more widespread attention in recent years, because of its Terrain adaptability and diverse forms of exercise. However, most existing snake-like robots are based on one or two degrees of freedom joints. This condition limits the motion diversity to some extent. In order to further enhance the speed and add the diversity of movement, the paper proposes a new 4-DOF joint, which consists of three rotating motor and a linear motor to achieve the three rotational degrees of freedom and a straight line freedom. It could help the robot adapt different environments. Besides the design of joints, we also analyze kinematics and dynamics equations of the robot. According to the simulation of the creeping movement of the snake-like robot with 4-DOF, we know that the robot can realize its ideal movement by utilizing the Serpenoid curve.