This paper analyzed the locomotion of a snake robot in narrow spaces such as a pipe or channel. We developed a unique experimental snake robot with one revolute and one linear joint on each module, with the ability to perform planar motion. The designed locomotion pattern was simulated in MATLAB R2015b and subsequently verified by the experimental snake robot. The locomotion of the developed snake robot was also experimentally analyzed on dry and viscous surfaces. The paper further describes the investigation of locomotion stability by three symmetrical curves used to anchor static modules between the walls of the pipe. The stability was experimentally analyzed by digital image correlation using a Q-450 Dantec Dynamics high-speed correlation system. The paper presents some input symmetrical elements of locomotion and describes their influence on the results of locomotion. The results of simulations and experiments show possibilities of snake robot locomotion in a pipe.

中文翻译：

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蛇形机器人在管道中运动可能性的研究

本文分析了蛇形机器人在管道或通道等狭窄空间中的运动。我们开发了一种独特的实验蛇形机器人，每个模块上有一个旋转关节和一个线性关节，具有执行平面运动的能力。设计的运动模式在 MATLAB R2015b 中进行模拟，随后由实验蛇形机器人进行验证。开发的蛇形机器人的运动也在干燥和粘性表面上进行了实验分析。该论文进一步描述了通过用于在管道壁之间锚定静态模块的三个对称曲线对运动稳定性的研究。使用 Q-450 Dantec Dynamics 高速关联系统通过数字图像关联对稳定性进行实验分析。本文介绍了运动的一些输入对称元素，并描述了它们对运动结果的影响。模拟和实验结果显示了蛇形机器人在管道中运动的可能性。