Most of the snake-like robots developed until now are based on the lateral undulation mode of locomotion. Nevertheless, it seems difficult to apply this mode of locomotion in realistic conditions like non-planar and complex grounds since most of these robots use wheels. As a result we choose the rectilinear mode of locomotion for our snake-like robotic structure. After introducing the biological standpoint, we present the mechanism designed to propel our robot. Then, we describe our simulation environment. At the end, we compare simulation data with analytic results from the standpoint of the mechanism. We conclude on these results and introduce research prospects