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. Precise cable drive is an elegant transmission mode and has manyadvantages of high efficiency, flexible layout, besides being lightweight.Since the common layout, Single-Input Single-Output (SISO) spur gearconfiguration, suffers from low torque-to-weight ratio and loose structure,this paper proposes a novel transmission configuration with largetorque-to-weight and compact size. It combines the advantages ofMultiple-Input Single-Output (MISO) configuration and bevel gearconfiguration. The design methods and transmission kinematics of the novelconfiguration are studied. An analytical model is developed forcharacterizing the transmission backlash of the proposed configuration, whichis derived by simultaneous satisfying system's constitutive relation,equilibrium, and geometric constraints. Parametric sensitivities are carriedout to investigate the influence of the major design parameter on thetransmission characteristics. At last, a prototype of MISO with bevel gearconfiguration cable drive mechanism (MBCDM) is built, with which a series ofexperiments are carried out. This mechanism could achieve maximum outputtorque of 3.3 Nm with considerable toque-to-weight ratio of9.649 Nm kg −1 . The experimental results show that the transmissionbacklash and ripple torque are dominant nonlinear effects in the MBCDMsystem. It shows that the ripple torque is connected with the rotationaldisplacement, with the highest peak at 694.3 cycle rad −1 and theamplitude of 24.67  µ rad. The transmission backlash experimentalresults are in good agreement with simulation ones, with the error level of4.14 %.

Compact design of a novel precise cable drive mechanism with high precision and large torque-to-weight ratio