摘要：From Pi to P， the cable lengths for the dashed cable routing and for the solid cable routing are both invariant under Mechanical E

This research is supported by the National Science Foundation under Grant No.1906727。

Pending U.S. Patent， Application No.16/428，732。

"Articulated Multi-link Robotic Tail Systems and Three common ways to route cables in cable driven system。

(a) Spatial Straight Routing (b) Planar Straight Routing。

The conditions are found to be that the cables have to route through the pivot points of the universal joint axes.

From Pi to P， the cable lengths for the dashed cable routing and for the solid cable routing are both invariant under Mechanical Engineering Department。

Mechanical design of a robotic tail using the derived joint mechanism。

A Cable Length Invariant Robotic Tail Using a Circular Shape Universal。

Yujiong Liu， iamin Wang，Pinhas Ben-Tzvi Robotics and Mechatronics Lab。

来源：回首亦江南