A pleurobot is a biomorphic hyper-redundant robot that resembles a snake. Snake robots come in all shapes and sizes, from the four stories long, earth quake snakebot developed by SINTEF, ^[1] to a medical snakerobot developed at Carnegie Mellon University that is thin enough to manoeuvre around organs inside a human chest cavity. Though snake robots can vary greatly in size and design. A snake robot can traverse cluttered and irregular environments by using irregularities around its body as push-points to aid the propulsion. This is denoted obstacle-aided locomotion and requires the snake robot to have two features: (1) a smooth exterior surface combined with Head and Tail with linkage joints these two features are characteristic of biological snakes, but have received limited attention in snake robot designs so far. This paper presents a joint mechanism for a snake robot aimed at meeting both these requirements.