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Mechanical Sciences An open-access journal for theoretical and applied mechanics
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Short summary
To solve the kinematics mapping problem for the joint space and the drive space of a hyper-redundant manipulator based on flexible cable actuation, which is the key for hyper-redundant manipulators to move strictly according to trajectory planning and avoid obstacles, a decoupling method for kinematics analyses of the flexible cable actuation space and the joint rotation space was proposed.
MS | Articles | Volume 12, issue 2
Mech. Sci., 12, 1017–1026, 2021
https://doi.org/10.5194/ms-12-1017-2021
Mech. Sci., 12, 1017–1026, 2021
https://doi.org/10.5194/ms-12-1017-2021

Research article 23 Nov 2021

Research article | 23 Nov 2021

Kinematics decoupling analysis of a hyper-redundant manipulator driven by cables

Lei Zhang et al.

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Short summary
To solve the kinematics mapping problem for the joint space and the drive space of a hyper-redundant manipulator based on flexible cable actuation, which is the key for hyper-redundant manipulators to move strictly according to trajectory planning and avoid obstacles, a decoupling method for kinematics analyses of the flexible cable actuation space and the joint rotation space was proposed.
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