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This paper presents the design and performance of a screw-propelled redundantserpentine robot. This robot comprises serially linked, identical modules, eachincorporating an Archimedes' screw for propulsion and a universal joint(U-Joint) for orientation control. When serially chained, these modules form aversatile snake robot platform which enables the robot to reshape its bodyconfiguration for varying environments and gait patterns that would be typicalof snake movement. Furthermore, the Archimedes' screws allow for novelomni-wheel drive-like motions by speed controlling their screw threads. Thispaper considers the mechanical and electrical design, as well as the softwarearchitecture for realizing a fully integrated system. The system includes 3$N$actuators for $N$ segments, each controlled using a BeagleBone Black with acustomized power-electronics cape, a 9 Degrees of Freedom (DoF) InertialMeasurement Unit (IMU), and a scalable communication channel over ROS. Theintended application for this robot is its use as an instrumentation mobilityplatform on terrestrial planets where the terrain may involve vents, caves,ice, and rocky surfaces. Additional experiments are shown on our website.

ARCSnake: An Archimedes' Screw-Propelled, Reconfigurable Robot Snake for Complex Environments