Whole Assembly

In this image, a design consisting of four modules of OPPAS can be seen. The meaning of 'whole assembly' is that both the link and joint parts are used. In this example, all the axes of the joints are parallel, meaning that the resulting robot is a planar snake robot.

Minimal Assembly

A minimal assebly consists of only joint parts connected. This arrangement would requiere a tether line for both power and control, but depending on the application it may be a better choice. In this case, the axes of the joints have a difference of 90[deg] between each other, proviging 3D motion to the robot. Other types of locomotion can be implemented, like sidewinding.