In one embodiment of the invention, a strap drive-train for use in a robotic arm to enable movement of a linkage assembly of the robotic arm is provided. The linkage assembly includes a plurality of links pivotally coupled in series together at a plurality of joints, respectively, for movement of the robotic arm about a pitch axis. The strap drive-train includes a first driver pulley rigidly coupled to a link of the plurality of links and a second driver pulley rigidly coupled to another link of the plurality of links. The electro-mechanical strap stack includes at least one of a ground strap and an electrical cable strap in a stacked configuration with a drive strap, wherein the electro-mechanical strap stack is connected between the first driver pulley and the second driver pulley through a middle link.
