In this paper a new strategy for introducing simplified structures to describe parallel robots with redundant passive joints and links before deriving its equations of motions is presented. The strategy is demonstrated at the planar, full-parallel robot SpiderMill whose structure is simplified, retaining its kinematic and dynamic properties. For the obtained simplified model the kinematic and the dynamic equations are derived. To further improve the quality of the analytical model an appropriate strategy for parameter identification, including consideration of passive joint and actuator friction is presented. Through the whole modelling and verification process verified MSC.ADAMS and Solid Edge models of the demonstrator were used. The usefulness of the strategy is confirmed by experimental results.
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