Fig. 1 Three-dimensional structure of the CDSSR. ( a ) Overall structure of the prototype. ( b ) Cable drive module. ( c ) Cable steering module. ( d ) A detailed enlarged view of the robotic arm. More about this image found in Three-dimensional structure of the CDSSR. ( a ) Overall structure of the pr...

Fig. 2 Mapping relationship of CDSSR More about this image found in Mapping relationship of CDSSR

Fig. 3 Kinematic coordinate system of cable-driven super-redundant manipulator More about this image found in Kinematic coordinate system of cable-driven super-redundant manipulator

Fig. 4 Universal joint model: ( a ) three-dimensional model of universal joint and ( b ) geometric model of universal joint More about this image found in Universal joint model: ( a ) three-dimensional model of universal joint and...

Fig. 5 CDSSR control framework considering stiffness More about this image found in CDSSR control framework considering stiffness

Fig. 6 Change of driving cable forces during the motion of the manipulator based on the minimization of cable tension method More about this image found in Change of driving cable forces during the motion of the manipulator based o...

Fig. 7 Change of driving cable forces during the motion of the manipulator based on the minimum tension variation method More about this image found in Change of driving cable forces during the motion of the manipulator based o...

Fig. 8 The experimental system platform More about this image found in The experimental system platform

Fig. 9 Simulation stiffness comparison More about this image found in Simulation stiffness comparison

Fig. 10 Experimental stiffness comparison More about this image found in Experimental stiffness comparison

Fig. 11 Repeated positioning accuracy of the manipulator under different set stiffness conditions: ( a ) repeated positioning accuracy in the X direction under the condition of end stiffness 200 N/m, 300 N/m, and 400 N/m; ( b ) repeated positioning accuracy under the condition of end stiffness 2... More about this image found in Repeated positioning accuracy of the manipulator under different set stiffn...