Nematode-Inspired Cable Routing Method for Cable Driven Redundant Manipulator*
Hoyoung Kim,Hosu Lee,Jungwon Yoon,Hoyoung Kim,Hosu Lee,Jungwon Yoon
Cable driven redundant manipulator (CDRM) can provide complex movements with high dexterity and singularity reduction. However, traditional CDRMs with universal joints have the disadvantages of requiring a high number of motors and having a narrow joint workspace. Furthermore, there is a limitation in terms of stiffness and payload. Recently, CDRMs composed of Quaternion joints have been developed...
