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This kind of mechanism is a serial planar robotic chain with \\(n\\) links in series connected with \\(n-1\\) revolute joints. Every link is equipped with a pair of wheels that introduce a so-called non-slip condition to the orthogonal direction of each link. The forward kinematics is computed with help of geometric algebra, position and orientation of the first link and the joint angles are given.\\N\\NThe authors extend this concept to a snake robot, where the links are able to change their lengths, i.e., introducing prismatic joints along them. As an example the 3-link robotic snake is shown where only the second link has a fixed length. 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