Research Article
Design and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints
Table 1
Parameters of the joint structure.
| Symbol | Description | Value |
| H | The distance between two axes | 8 mm | t | Disk thickness | 2.5 mm | r | Cable distribution circle radius | 4.25 mm | d | Robot diameter | 10 mm | (θ, φ) | Joint variables in the proximal segment | (−π/18, π/18) | (α, β) | Joint variables in the distal segment | (−π/18, π/18) |
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