System design and structure of snake robot driven by single motor

This paper presented the reasons for low ratio between load and gravity of a robot. We designed a robot modular by getting some advantages from other robots with one directional driven and the uni-driven robot with flexible shaft as main shaft. There were two joints in one robot modular. Every joint was perpendicular to each other and was controlled by clutches of the joint. Subsequently, the simulation model was built to verify the mechanism. We studied kinematics of the robot by simulating the trajectory of the end-effector which aligned a line by MATLAB software. Lastly, the prototype of snake robot with 6DOFs was set out.