The Parallel Continuum Manipulator (PACOMA) is an advanced robotic system designed to replace traditional robotic arms in space missions, such as exploration, in-orbit servicing, and docking. The system features six flexible links with a leaf spring-tendon system and a Revolute-Universal-Spherical (RUS) kinematic chain. Its design emphasizes robustness against misalignments and impacts, high precision and payload capacity, and sufficient mechanical damping for stable, controlled movements.