Abstract
This research paper describes a new design of pulley guided wire-driven continuum robot arm structure. Continuum manipulators have gained more attention from the robotics community and have widened their application horizon in the last couple of decades. However, wire-driven continuum manipulators have a problematic issue caused by the friction between the driving wire and robot rigid parts. It has a significant negative impact on the robot payload capacity and puts stress on the driving motors. Therefore, in this paper, we propose a new wire-driven continuum robot arm design that seeks to minimize friction effect to gain a smooth transmission of driving force.