Compact Wire-Driven Joint Mechanism with Orthogonal 3 Axes

The wire-driven orthogonal 3-axis joint mechanism was proposed utilizing a minimum 4 drive wires. ``Wire Support'' assembly guides two pairs of wires wound oppositely around the arm shaft in four directions, enabling the drive to tilt and twist rotations. This mechanism offers advantages such as no sliding, low friction, simple kinematics, and the potential for a compact design. A prototype was developed to conduct experimental evaluations confirming its repeatability and stiffness.