Science and Education Publishing American Journal of Mechanical Engineering 1 7 2013 11 21 Kinematic Analysis of Planar Snake-like Robot Mechanism Using of Matrices Formulation 447 450 EN Erik Prada Technical University of Košice, Department of Applied Mechanics and Mechatronics, Košice, Slovakia Alexander Gmiterko Tomáš Lipták Ľubica Miková František Menda AJME20131759 10.12691/ajme-1-7-59 2013 10 28 2013 11 07 2013 11 21 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.