[EricH]

Shielding is not necessarily required by the rules, but when there's a risk that, say, a finger gets stuck, the safety rules do require shielding or other mitigation(<R04>, if you look in the blue box).

However, for the design in question, I don't think that sort of shielding will be necessary. It's steel cable, it's close in to the arm, I don't think there will be too much of a problem unless something breaks.

The other factor, and the prime reason for shielding when the rules don't require it, is that other robots will get tangled in a device's chain and cable run. If done intentionally by either team involved, it's illegal--but accidentally, the rules are a little more lenient, and accidents do happen.

As an inspector (well, not this year--I won't be attending any events this year), I don't see any reason that you wouldn't pass inspection. However, depending on exact geometry of both your robot and the tube-grabbers on the ends of arms of the other robots at your event, I might suggest putting some light shielding on--what and how is up to you.