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    Title Page
    Copyright Page
    Editorial Advisory Board
    List of Reviewers
    Preface
    Chapter 1: History of Service Robots
    Chapter 2: Kinematics Design for Structures and Algorithms
    Chapter 3: Task Analysis and Motion Generation for Service Robots
    Chapter 4: Mission Planning of Mobile Robots and Manipulators for Service Applications
    Chapter 5: Lagrangian Dynamics of Manipulators
    Chapter 6: Multidisciplinary Project-Based Learning of Robotics
    Chapter 7: An Integrated Approach for Teaching Robotics based on the Development of Low-Cost Parallel Robots
    Chapter 8: Human-Friendly Robots for Entertainment and Education
    Chapter 9: Robot Modeling for Physical Rehabilitation
    Chapter 10: Safer and Faster Humanitarian Demining with Robots
    Chapter 11: Mobile Worm-Like Robots for Pipe Inspection
    Chapter 12: Service Robots for Restoration of Goods of Cultural Heritage
    Chapter 13: Self-Calibration of Eye-to-Hand and Workspace for Mobile Service Robot
    Chapter 14: Design and Operation of Two Service Robot Arms
    Chapter 15: Modular Cable-Driven Robotic Arms for Intrinsically Safe Manipulation
    ABSTRACT
    INTRODUCTION
    CABLE-DRIVEN UNIVERSAL JOINT (CDUJ) MODULE
    DISPLACEMENT ANALYSIS FOR CDUJ MODULE
    TENSION ANALYSIS
    WORKSPACE ANALYSIS
    DESIGN OPTIMIZATION
    KINEMATICS ANALYSIS FOR CABLE-DRIVEN ROBOTIC ARM (CDRA)
    PROTOTYPE DEVELOPMENT
    CONCLUSION
    APPENDIX
    Chapter 16: Agile Wheeled Mobile Robots for Service in Natural Environment
    Chapter 17: Dual Robot Control for Part Handling Services with Human Interaction
    Chapter 18: Service Robots for Agriculture
    Compilation of References
    About the Contributors
    Index
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    Chapter 15: Modular Cable-Driven Robotic Arms for Intrinsically Safe Manipul... - Pg. 274

    274 Modular Cable-Driven Robotic Arms for Intrinsically Safe Manipulation Wen Bin Lim Nanyang Technological University, Singapore Guilin Yang Singapore Institute of Manufacturing Technology, Singapore Song Huat Yeo Nanyang Technological University, Singapore Chapter 15