Sliding around on your stomach can be inefficient.
However, this is the main method for snake locomotion and various environments. About two weeks ago my group partners pointed out to me how the lack of panels on the bottom of each motor link might be causing it to be getting caught on the obstacles as it progresses. So now there is a need to develop a new motor casing that includes a bottom panel.
Before heading over to solidworks I am going to produce some concept sketches first that the team can vote on during our next meeting.
Concept 1
Concept 2
Concept 3
Placeholder text by Nelson R..