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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.

The contribution deals with an experimental investigation of deformation fields of a specimen loaded by combined loading. The experiment was done using non-contact optical method of low-speed digital image correlation. This technique allows investigate displacement as well strain fields. The experimentally obtained results depicted in the paper in a form of color maps and graphs were verified by a numerical simulation performed in Ansys, where two types of meshing were used to demonstrate the coherence between experiment and simulation.