Design and Kino-dynamic Modeling of SERP: A Modular Snake Robot

This paper presents the design and kino-dynamic modeling of SERP, a novel hyper-redundant articulated snake-like robot, focusing on its modular structure and locomotion. The robot comprises of eight modules, each equipped with two degrees of freedom enabled by individual motors for both revolute and twist movements. This alternating joint configuration enhances maneuverability and adaptability to varied terrains. The modules feature a hexagonal cross-section, optimizing ground interaction and friction manipulation. All electronics and power supplies are onboard, ensuring untethered functionality and increased operational flexibility. The paper also proposes and simulates a kino-dynamic model in MATLAB, incorporating frictional forces and torques, joint parameters and constraints for serpent-like locomotion along with the results of a test case on helical rolling motion. This robot model aims to advance the capabilities of snake robots in complex environments where conventional robots face challenges. The results proved that the modular snake robot's unique design enhanced terrain adaptability and biomimetic locomotion, while the kino-dynamic model validated the proposed robot's feasibility, usage and performance parameters.