Abstract—In this paper, a mechanical design of cable-driven hyper-redundant manipulator (CDHRM) is presented, and for which an obstacle-avoidance-based motion control method is proposed. First, cables are mounted to drive CDHRM, and the actuating subsystem is designed to be separated from the. The Cable Tray Institute (CTI) was founded in 1991 to support the cable tray industry by engaging in research, development, education, and the dissemination of information designed to promote, enhance, and increase the visibility of the industry. Copyright 2026© Cable Tray Institute | All rights. The following recommendations are intended to be a practical guide to ensure the safe and proper installation of cable ladder and cable tray systems and channel support and other support systems.
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