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A multi-link cable-driven robot (MCDR) usually has a large number of redundant actuating cables due to its modular cable routing scheme. To reduce the number of actuating cables while keeping the advantages of the modular MCDRs, a hybrid modular cable routing method is proposed, in which some actuating cables are co-shared by adjacent cable-driven joints. Consequently, the total number of actuating cables can be reduced to <inline-formula> <tex-math notation="LaTeX">$n+1$ </tex-math></inline-formula> for an <inline-formula> <tex-math notation="LaTeX">$n$ </tex-math></inline-formula>-degree-of-freedom (<inline-formula> <tex-math notation="LaTeX">$n$ </tex-math></inline-formula>-DOF) MCDR. Focusing on MCDRs composed of identical 2-DOF cable-driven universal joint modules, the performance of the MCDR with the hybrid modular cable routing scheme is evaluated. It is concluded that: 1) the wrench-closure workspace of an MCDR with the hybrid modular cable routing scheme remains unchanged compared to the conventional modular cable routing scheme; 2) the maximal joint speed is inversely proportional to the total number of joint modules that co-share one actuating cable; and 3) the loading capability of an MCDR is a monotone decreasing function of the number of co-shared actuating cables. To verify the conclusions obtained, computer simulations are conducted on an MCDR with different cable routing schemes. Besides, the hybrid modular cable routing with alternatively co-shared actuating cables is an ideal cable routing scheme as it has the minimum loss of performance on motion speed and loading capability.

Cable Routing Design and Performance Evaluation for Multi-Link Cable-Driven Robots With Minimal Number of Actuating Cables