Bionic snakelike robot based on Mecanum wheels

The utility model discloses a bionic snakelike robot based on Mecanum wheels, and belongs to the technical field of bionic robots. The bionic snakelike robot based on the Mecanum wheels comprises a snakelike head, joint assemblies, Mecanum wheel assemblies and a snakelike tail, the snakelike head and the snakelike tail are connected through the multiple joint assemblies, the Mecanum wheel assemblies are arranged between every two adjacent joint assemblies, and each joint assembly comprises a first support, a second support and a connecting joint. The first support and the second support are consistent in structure, the first support rotates by 90 degrees along the central axis of the second support, the connecting joint is located between the first support and the second support, the first support and the connecting joint are rotationally connected through the rotating shaft, and the two-degree-of-freedom completely-orthogonal output joint is driven by the stay wire. The flexible, energy-efficient and exquisi