Rubik's Snake Puzzle

Rubik's snake is a mechanical puzzle made of 24 isosceles triangular prisms as links. The toy can be twisted to form objects, animals, or geometric shapes.
This Demonstration builds a forward kinematics model of Rubik's snake with 23 degrees of freedom. You can use slider bars for the left and right columns to control the rotation angle of each joint. Joint 0 in the left frame and joint 0 in the right frame are the same joint, but they drive different links.

SNAPSHOTS

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DETAILS

This Demonstration was inspired by Professor Oussama Khatib's Introduction to Robotics course, available free online through Stanford's Engineering Everywhere.
References
[1] J. J. Craig, Introduction to Robotics, Mechanics and Control, 3rd ed., New York: Pearson–Prentice Hall, 2005 pp. 62–82.
[2] J. Denavit and R. S. Hartenberg, "A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices," Journal of Applied Mechanics, 77, 1955 pp. 215–221.
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