Hybrid system approach to analysis of parallel robots: An effective hybrid modeling of 4-RPR planar parallel manipulator

In this paper an open hybrid modeling of a class of cable-driven redundant parallel manipulators is studied in detail. Cable robots should always be kept at tension within the workspace. In this study cables are considered as a rigid link with negligible mass. With this assumption the manipulator dynamics is derived using Lagrange's method. In the proposed method, parallel manipulators are considered to have joint space and task space as two independent subsystems. As such a dealing with parallel robots may be analytically intractable, a systematic procedure is proposed. Finally, the whole model's performance is evaluated through simulation.