An Efficient Solution Method for Workspace Boundary of Serpentine Manipulators Based on a Unified Kinematics Model. - Deshan Meng; Taowen Guo; Runhui Xiang; Ruiqi Wang; Junbo Tan; Xueqian Wang 001; Bin Liang 001 (IEEE Trans. Syst. Man Cybern. Syst., 2026)