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.