Abstract
Snake-like robots have always been the research focus for the unique hyper-redundant structure. The existing snake-like robots can move on complex surfaces, swim in the water, and even climb a tree. However, they cannot pass through a long, narrow hole whose diameter is similar to their own. Even the snakes in nature also face the same problem because of their series physical structure. Inspired by the annelid earthworms and leeches, a new type of retractable snake-like robot based on 2-RRU/URR parallel module is proposed. And its length can be adjusted between 850 mm to 1500 mm because of the translational degree of freedom (DOF) of 2-RRU/URR. Further, typical movement such as serpentine locomotion, traveling wave locomotion and rectilinear locomotion are analyzed and verified by experiments.
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