Design and forward kinematic analysis of a robotic snake

In this paper a new kind of robotic mechanism is proposed to be used for inspection tasks in complex setups of industrial plants. The shape and motion capabilities of biological snakes are adopted as generic design guidelines. We propose a multi-articulated mobile robot, with a body consisting of repeating modules, capable for both moving efficiently and reaching points inside complicated or unstructured areas, where human personnel cannot reach or work properly. An analysis of the basic design along with most of the component specifications is presented. Finally, we present its forward kinematics, as a first step towards controlling it