TY - JOUR A1 - Zhang, L. A1 - Ouyang, G. A1 - Du, Z. T1 - Kinematics decoupling analysis of a hyper-redundant manipulator driven by cables JO - Mech. Sci. J1 - MS VL - 12 IS - 2 SP - 1017 EP - 1026 Y1 - 2021/11/23 PB - Copernicus Publications SN - 2191-916X UR - https://ms.copernicus.org/articles/12/1017/2021/ L1 - https://ms.copernicus.org/articles/12/1017/2021/ms-12-1017-2021.pdf DO - 10.5194/ms-12-1017-2021 ER -