The　milking　manipulator　is　the　primary　operator　of　the　Automatic　Milking　System　(AMS),　capable　of　automating　processes　such　as　cup　attachment,　teat　massage,　and　milking　to　reduce　labor　intensity　and　enhance　production　quality　and　efficiency.　However,　current　manipulators　generally　suffer　from　issues　such　as　excessive　size,　insufficient　flexibility,　and　low　efficiency.　This　paper　mainly　presents　a　dexterous　manipulator　with　a　Rigid-Flexible　Coupling　End-Effector　(RFCE),　featuring　flexible　finger　mechanisms　that　can　switch　between　various　states　to　accommodate　different　cup　attachment　stages　and　adapt　to　teats　in　various　spatial　orientations.　Firstly,　through　an　introduction　to　the　structural　design,　hardware　architecture,　and　software　system　of　the　robot,　the　design　philosophy　and　operational　principle　of　the　robot　system　are　comprehensively　elucidated.　Subsequently,　the　forward　kinematic　model　of　the　manipulator　is　proposed　and　the　inverse　kinematic　model　based　on　the　semi-analytical　method　is　established.　The　workspace,　dexterity,　and　efficacy　of　the　inverse　solution　algorithm　were　analyzed　through　simulation.　Then,　a　static　model　of　the　flexible　joint　was　formulated　based　on　the　Cosserat　theory.　The　deformation　behavior　of　the　flexible　joint　was　analyzed,　and　the　kinematic　model　was　adjusted　accordingly.　Finally,　experiments　are　conducted　to　validate　the　static　model,　the　manipulator＇s　positioning　accuracy,　and　the　actual　task　performance.　Experimental　data　shows　that　the　manipulator＇s　absolute　positioning　accuracy　is　1.32　mm,　with　a　single　cup　attachment　time　of　no　more　than　6　s　and　a　success　rate　of　no　less　than　95　%.　Simulation　and　experimental　results　indicate　that　the　developed　dexterous　manipulator　possesses　excellent　flexibility　and　the　capability　to　perform　milking　operations.　©　2024　Elsevier　B.V.