Stiffness Analysis of a Module-Based Shape Morphing Snake-Like Robot

In this paper, a method is presented for stiffness analysis of a module-based shape morphing snake-like robot. Snake-like robots have the characteristic of adapting to unstructured environments by exploiting their ability to reconfigure their body’s shape. However, the excellent mobility contrasts with the ability to transmit high loads, precluding its application in manufacturing operations. This article presents a hybrid structure based on reconfigurable modules equipped with lockable joints. The use of multiple modules in series allows for a large workspace. Furthermore, the parallel structure of the single modules provides for transferring or sustaining high loads. The elastostatic analysis confirms the feasibility of the design for manufacturing applications.