Impact Analysis and Outer Design for a Snake Robot Colliding with the Ground

A snake robot, inspired by biological snakes, possesses a long, serpentine structure and is envisaged for tasks such as disaster exploration and industrial pipe inspections, leveraging its unique body design. Various locomotion strategies, including undulatory, sidewinding, and helical rolling motions, have been proposed by researchers to suit different scenarios. However, the vulnerability of snake robots to damage from falls poses a significant limitation. Reducing the risk of damage would enable these robots to jump from a height, enhancing their utility in rescue operations. Previous studies have explored protective measures such as rubber skins and mechanical elasticity within the robot's structure to mitigate damage, but none have specifically addressed the impact of ground collisions following a fall. Our research aims to develop a snake robot capable of withstanding ground impact damage from falls. We begin by simulating the impact on different parts of the snake robot upon collision with the ground, followed by designing protective outers based on this analysis. The proposed outers are designed to shield the robot from ground impact damage effectively, thereby extending its operational capabilities in challenging environments.