Haiming Fu

Improved Mechanical Design and Simplified Motion Planning of Hybrid Active and Passive Cable-Driven Segmented Manipulator with Coupled Motion

Cable-driven segmented manipulators (CDSMs) featured by superior dexterity, light and slender body are excellent candidates for operations in confined environments. However, the stiffness and load capacity of such manipulators have been a challenge due to their structural elasticity. In this paper,…