Analysis of the motion mechanism of a cable-driven three-degree-of-freedom joint

Given the current insufficient analysis of the motion mechanism of cable-driven robots, this paper adopts a mechanical perspective and applies classical physics and mathematical methods to thoroughly analyse the relationship between cable tension and rotational realization in a four-cable, three-degree-of-freedom joint. Additionally, it defines the theoretical motion angle of the cable-driven joint through geometric analysis. An in-depth exploration of the motion mechanism of cable-driven machinery helps optimize the structural design and performance of these joints, providing theoretical support for the research of cable-driven manipulators and robots.