A Hybrid Active and Passive Cable-Driven Segmented Redundant Manipulator Design, Kinematics and Planning

With a light-slender and superior dexterous body, the cable-driven segmented redundant manipulators (CSRMs) are excellent candidates for operations in narrow confined space. However, their application is still largely limited due to their weak stiffness, low load capacity, and complex modeling and planning. In this article, we design a new type of CSRM with high stiffness and load capacity using h...