Based on the study of the kinematic limitations of the rigid manipulator structure and the characteristics of the existing flexible manipulator in different categories, this paper proposes a structure assumption of flexible manipulator based on the advantages of high load of rigid joint and high flexibility of flexible manipulator.This paper designed a flexible manipulator structure driven by wires.Using the forward kinematics analysis, the sport model of the structure.The motion range of the end of the manipulator arm and the length changes of the wires were simulated with the movement of the model.
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Huang et al. (2024) studied this question.
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