Omega Wire Routing

A method comprising:

• obtaining a wire configured to provide power or data to a component of a robotic manipulator, the robotic manipulator comprising an input link and an output link, the output link coupled to the input link at an inline twist joint, the output link configured to rotate about a longitudinal axis of the output link relative to the input link;
• generating a wire routing for the wire by extending the wire across the inline twist joint coupling the input link and the output link, the wire routing comprising an input link section, an output link section, and an omega section;
• and
• coaxially aligning a start of the omega section on the input link with a second position of the wire routing at an end of the omega section on an output link.

A wire routing comprising:

• a first segment of a wire having a first length extending along a surface of an input link for a twist joint of a robot, the first length extending in a first direction parallel to a longitudinal axis of the input link;
• a second segment of the wire comprising a first radius of curvature and having a second length, the first radius of curvature transitioning the second segment of the wire from the first direction parallel to the longitudinal axis of the input link to a second direction, the second direction orthogonal to the first direction, the second length extending in the second direction circumferentially around a portion of the input link;
• a third segment of the wire comprising a second radius of curvature and having a third length, the second radius of curvature transitioning the third segment of the wire from the second direction to the first direction parallel to the longitudinal axis of the input link, the third length extending in the first direction across the twist joint to an output link for the twist joint;
• a fourth segment of the wire comprising a third radius of curvature and having a fourth length, the third radius of curvature transitioning from the fourth segment of the wire from the first direction parallel to the longitudinal axis of the input link to a third direction opposite the second direction, the third direction orthogonal to the first direction, the fourth length extending in the third direction circumferentially around a respective portion of the output link;
• and
• a fifth segment of the wire comprising a fourth radius of curvature and having a fifth length, the fourth radius of curvature transitioning from the fifth segment of the wire from the third direction to the first direction parallel to the longitudinal axis of the input link, the fifth length extending along an outer surface of the output link away from the input link,
• wherein an aggregate length of the wire comprising the second length, the third length, and the fourth length corresponds to a range of motion limit for the output link of the twist joint of the robot.