Design and Kinematics of Cable-Driven Continuum Robot Arm with Universal Joint Backbone

This paper presents cable-driven bio-inspired continuum robot with variable backbone hardness and with mounted compliant universal joints. Proposed continuum robot has nine segments and each one of which has two rotary joints. Kinetics, kinematics and design concerns are very challenging in continuum robots. So, in this research, we will present a novel approaches of kinetic, kinematic modeling and design solutions of the wire-driven universal joint backboned continuum robot. Moreover, experimental validation results will be presented as well.