Structural Design and Motion Mechanism of the Rope-Drive Snake-Like Robot

The characteristics of the snake with a variety of motion patterns and multi-redundancy and multi-degree of freedom make it have powerful motion ability and good environmental adaptability, can pass through obstacles that human can’t. These advantages prompt us to study a new-type rope-drive snake-like robot based on the epidermis-drive. The snake-like robot uses modular design, with a remarkable versatility, economy and robustness. In this paper, we mainly design the structure of the rope-drive snake-like robot, and carry out a detail description of the drive mechanism, the drive principle and the yaw and pitch mechanism of the snake-like robot. And then study the motion mechanism of the rope-drive snake-like robot; finally verify the motion ability of the snake-like robot by experiments. Keywords-rope-drive snake-like robot; structural design; motion mechanism