American Journal of Mechanical Engineering
ISSN (Print): 2328-4102 ISSN (Online): 2328-4110 Website: Editor-in-chief: Kambiz Ebrahimi, Dr. SRINIVASA VENKATESHAPPA CHIKKOL
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American Journal of Mechanical Engineering. 2013, 1(7), 447-450
DOI: 10.12691/ajme-1-7-59
Open AccessArticle

Kinematic Analysis of Planar Snake-like Robot Mechanism Using of Matrices Formulation

Erik Prada1, , Alexander Gmiterko1, Tomáš Lipták1, Ľubica Miková1 and František Menda1

1Technical University of Košice, Department of Applied Mechanics and Mechatronics, Košice, Slovakia

Pub. Date: November 21, 2013

Cite this paper:
Erik Prada, Alexander Gmiterko, Tomáš Lipták, Ľubica Miková and František Menda. Kinematic Analysis of Planar Snake-like Robot Mechanism Using of Matrices Formulation. American Journal of Mechanical Engineering. 2013; 1(7):447-450. doi: 10.12691/ajme-1-7-59


The article deals with the kinematics of a three section snake-like robot. In the introductory part of the article, the main advantages and application possibilities of a snake-like movement in practice are mentioned. In the next chapter, the mathematical model of a direct kinematics of a three link snake-like robot was created. It also includes the fourth, variable “virtual” link. Mathematical model was numerically confirmed in the conclusion. Homogeneous transformational matrices were used for the creation of mathematical model. Subsequently, positional vectors of centers of mass all links were expressed. For the derivation of velocity vectors centers of mass, the numerical methods with the application of differential operators were used. In the conclusion of the work, the graphical presentation of the centers of mass positions is illustrated. They were realized in the Matlab 2012 programming environment.

snake-like robot kinematic chain direct kinematic

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[1]  Prada, E., Kinematic analysis of planar snake-like robot, little doctoral exam thesis. Faculty of mechanical Engineering, Technical university of Kosice, Kosice, 2012.
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[3]  Gray, J., “The mechanism of locomotion in snakes”, The Journal of Experimental Biology, Vol. 23, No. 2, pp. 101 - 120, 1946.
[4]  Transeth, A.A., Modelling and Control of Snake Robots, Doctoral Thesis, Norwegian University of Science and Technology, 2007.
[5]  Chirikjian, G., Burdick, J., “Kinematics of hyper-redundant robot locomotion with application to grasping”, In proceeding of the IEEE International conference on robotics and automation, pp. 720 -725, California, 1991.