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)