ABSTRACT
Crawling movement as a motive mode seen in nature of some animals such as snakes possesses a specific syntactic and dynamic analysis. Serpentine robot designed by inspiration from nature and snake’s crawling motion, is regarded as a crawling robot. In this article, a serpentine robot with spiral motion model will be analyzed. The purpose of this analysis is to calculate the vertical and tangential forces along snake’s body and to determine the parameters affecting on these forces. The different types and functions of snake robots are listed. Biological snakes are pervasive across the planet; their diverse locomotion modes and Physiology make them supremely adapted for the wide variety of terrains, environments and climates that they inhabit. A snake-like device that could slide, glide and slither could open up many applications in exploration, hazardous environments inspection and medical interventions. One of the fundamental issues is understanding their locomotion. A wheel turns; the vehicle moves. A leg pushes; the vehicle moves. How a snake moves is not so evident. A worthwhile snake robot has the ability to wriggle into confined areas and traverse terrain that would pose problems for traditional wheeled or legged robots
INTRODUCTION
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