Design and Analysis of a Fully Actuated Cable-Driven Joint for Hyper-Redundant Robots with Optimal Cable Routing

Abstract Cable-driven hyper-redundant robots have been adopted in many fields for accessing harsh and confined environments that maybe inaccessible or dangerous humans. The cable actuation strategy makes the robot hardware safer increases payload reducing its weight. In this paper, a novel design of fully actuated cable-driven has proposed. This solution is pulleyless decreases mechanical complexity, allowing to reduce arm diameter avoid tension losses on cables during motion. Three different joint designs taken into account experiments carried study their performances. kinematics n-joint formulated routing optimization method based genetic algorithm proposed applied five-joints robot.