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In this contribution, a systematic methodology for solving the kinematic and dynamic analyses of a modular spatial hyper-redundant manipulator built with an optional number of serially connected three-legged in-parallel manipulators are presented.

First, the kinematics and dynamics of the base module are carried out using the theory of screws and the principle of virtual work. Next, the expressions obtained for the base module are extended without significant effort to the spatial hyper-redundant manipulator under study. Finally, the proposed methodology of analysis is applied to a 18 degrees of freedom hyper-redundant manipulator.