This paper describes the kinematics, motion planning and mechanism optimization of the dual-arm type cable traversing robot on spatially-structured cable way. Since the inverse kinematics cannot be perfectly defined due to one of the orientation parameters is determined by static condition, its inverse kinematics algorithm utilizing both the kinematics of 3R serial spherical mechanism and the static equilibrium condition of the whole system was developed. The motion planning method to traverse cable node is based on the kinematics and Spherical Linear Interpolation using quaternion. Furthermore, mechanism optimization for avoidance of collision with cables and improvement of characteristics is also conducted.
