- Article
Kinematic Analysis and Gait Planning of a Novel Rigid–Flexible Coupling Rolling Mechanism
- Haibao Gao,
- Ruiqin Li and
- Zehui Li
14 February 2026
A novel rigid–flexible coupling rolling mechanism is proposed, which is composed of three planar 3R branched chains, two triangular flexible joints and three flexible cables. The degrees of freedom and kinematics of the rigid–flexible cou...