Formulation of a state-space model for a parallel manipulator using linear graphs

Linear graphs (LGs) present a unified tool for modeling multi-domain dynamic engineering systems. A state space model can be systematically obtained from the LG representation, which is based on energy flow. However, LGs based on energy/power flow cannot properly describe multi-dimensional mechanical systems, while an LG representation of multi-dimensional mechanical systems may not generate a state space model. This paper integrates the two types of LG representation to formulate a state space model for a multidomain engineering system, thereby by heading for a new direction in modeling with LGs.