6 / 6
neutral centerline-radius calculations reproduce
12
exact tangent quarter-circle guides retained
0
routes eligible as articulated whole-limb cables
0
rigid guards allowed to cross moving joints
Inspect the retained fixed-pose geometry
Neutral-envelope STEP · Exact route register · current articulated successor
The corrected boundary
A shoulder, elbow, wrist, hip, knee, ankle, neck or waist changes the relative pose of adjacent links. A continuous rigid shell spanning that axis would lock or collide with the joint. The successor uses rigid link-local channels that stop before the axis and flexible joint-local bellows around smaller flat-cable segments.
Dimensioned neutral centerlines
| Corridor | Cable | Axes | Max OD mm | Guide R mm | Centerline mm | Screen |
|---|---|---|---|---|---|---|
| HN01_HEAD_POWER_BRANCH | 861804 | 2 | 6.2992 | 50.3936 | 183.961 | PASS GEOMETRIC CENTERLINE RADIUS |
| HN01_L_ARM_POWER | 861812 | 5 | 9.3472 | 74.7776 | 366.009 | PASS GEOMETRIC CENTERLINE RADIUS |
| HN01_L_LEG_POWER | 861812 | 6 | 9.3472 | 74.7776 | 460.366 | PASS GEOMETRIC CENTERLINE RADIUS |
| HN01_R_ARM_POWER | 861812 | 5 | 9.3472 | 74.7776 | 366.009 | PASS GEOMETRIC CENTERLINE RADIUS |
| HN01_R_LEG_POWER | 861812 | 6 | 9.3472 | 74.7776 | 460.366 | PASS GEOMETRIC CENTERLINE RADIUS |
| HN01_TORSO_POWER_SPINE | 861802 | 1 | 5.5880 | 44.7040 | 221.034 | PASS GEOMETRIC CENTERLINE RADIUS |
Open or rejected items
PRG-H00
continuous whole-limb cable/rigid-guard topology
REJECTED - use the articulated-power-harness package with joint-local tap boards and separate rigid/flexible guards
PRG-H01
full-body pose and collision envelope
run exact neutral/crouch/weight-transfer/step/fall-restraint sweeps with guards and tether
PRG-H02
external-spine snag and human-contact risk
rounded guard design plus qualified hazard review and physical mockup
PRG-H03
received cable OD and bend applicability
supplier CoC/datasheet, received-lot OD, construction and written application disposition
PRG-H04
route cut lengths and service slack
measure on assembled body through complete joint range; do not use centerline length as cut length
PRG-H05
clamp and guard hardware
exact parts, materials, fasteners, access, retention, pull/chafe and impact tests
PRG-H06
dynamic flex and torsion life
motion-spectrum cycling at min/max temperature with post-test electrical and jacket inspection
PRG-H07
connector/breakout loads
breakout ECAD/mechanical design plus strain relief and connector qualification
PRG-H08
bundle thermal and current derating
measured duty/current distribution and worst-case enclosed temperature-rise test
PRG-H09
walking and fall-clearance proof
instrumented restrained walking development with guard-contact monitoring after unpowered sweeps
PRG-H10
qualified electrical/mechanical approval
signed configuration review after all preceding evidence exists