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. Author manuscript; available in PMC: 2016 Nov 3.
Published in final edited form as: IEEE ASME Trans Mechatron. 2015 Mar 30;20(6):2876–2889. doi: 10.1109/TMECH.2015.2396894

Fig. 2.

Fig. 2

Geometry for determining cable length. Link 0 is the base, and link numbering proceeds sequentially up the manipulator. The links shown in the inset are links 3, 4 and 5 (i = 4). Positive values of θ correspond to the configuration shown.