Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 12, issue 2
Articles | Volume 12, issue 2
https://doi.org/10.5194/ms-12-1017-2021
© Author(s) 2021. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-12-1017-2021
© Author(s) 2021. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 12, issue 2
Research article
 | 
23 Nov 2021
Research article |  | 23 Nov 2021

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

Lei Zhang, Guangyao Ouyang, and Zhaocai Du

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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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