Study on a Novel Snake Arm Robot for Working in a Narrow Space

In some narrow environments, it is difficult for ordinary robots to enter them to work. The snake arm robot has a large aspect ratio, can move flexibly, and can shuttle in a narrow and tortuous environment. It has great advantages in working in a narrow space. A novel snake arm robot for working in a narrow space is designed. The robot has the characteristics of large length-to-diameter ratio, large bending angle, and multiple redundant degrees of freedom, and can traverse a relatively narrow space. Its redundant degrees of freedom allow the snake-shaped arm to adapt to the surrounding environment autonomously, and it can better complete a series of tasks.