# Multibody dynamic modeling and analysis of cable-driven snake robot considering clearance and friction based on ALE method

> Research article (Mechanism and Machine Theory, 2023) · cited 28× · AI/ML

**Wikidata**: [openalex:W4323076549](https://www.wikidata.org/wiki/openalex:W4323076549)  
**Source**: https://4ort.xyz/entity/multibody-dynamic-modeling-and-analysis-of-cable-driven-snake-robot-considering-clearance-and-friction-based-on-ale-meth