Most　manipulators　require　extensive　operational　space;　however,　in　environments　where　space　is　limited,　these　devices　must　be　compact　during　periods　of　inactivity.　To　address　this　challenge,　a　redundant　rigid-flexible　coupling　deployable　manipulator　has　been　developed　that　optimizes　space　utilization　and　enhances　operational　capabilities.　This　development　is　informed　by　a　detailed　examination　of　the　structure　and　motion　performance　of　the　Kresling　origami　unit.　Equivalence　principles　for　the　mechanism　are　proposed,　and　an　optimal　rigid-flexible　coupling　equivalent　mechanism　unit　is　selected　by　integrating　motion　feasibility　analysis　with　the　significance　of　flexible　structures.　A　3RUU　mechanism　unit　is　chosen,　and　six　such　units　are　serially　connected　to　construct　a　deployable　manipulator.　The　workspace　and　mechanical　properties　of　the　manipulator　are　characterized,　and　principles　for　implementing　reach-point　motion　are　proposed　to　ensure　superior　overall　performance.　Experimental　results　show　that　the　designed　manipulator　achieves　a　folding　ratio　of　2.58,　supports　a　maximum　load　of　2611.1　g,　and　exhibits　high　flexibility　and　excellent　overall　performance　in　reach-point　motion.　These　findings　provide　a　solid　foundation　for　the　broader　application　of　this　type　of　manipulator.　©　2024　Elsevier　Ltd