Compact flexible cable driving mechanical arm

Each joint assembly comprises a joint shaft frame, a joint shaft seat, a rope penetrating flange and a flexible rope guide ring, the two joint shaft seats are hinged to the two sides of the joint shaft frame respectively, the end faces of the joint shaft seats on the adjacent sides of the adjacent joint assemblies are connected through a connecting rod, the rope penetrating flanges are arranged on the joint shaft seats, and the flexible rope guide rings are arranged on the rope penetrating flanges. Each stringing flange is provided with a flexible cable guide ring, flange flexible cable through holes are formed in the stringing flanges, guide ring flexible cable through holes are formed in the flexible cable guide rings, and the head ends of the driving flexible cables penetrate through the corresponding flange flexible cable through holes in the stringing flanges on the corresponding joint assemblies. The driving flexible cable is arranged on the joint shaft seat and penetrates through the corresponding guid