Abstarct: The modified crane is advanced type of traditional cranes that can control load position furthermore of load carrying. The modified crane was developed first time by National Institute of Science and Technology of America (NIST). Large workspace, high load carrying capacity and taking little space are the most advantages of this robot. In this study, two type of parallel cable robots and three type of hybrid models of parallel cable robots are introduced and dynamic and kinematic relations are extracted. Because all of introduced models are under-constrained, the static and kinematic relation are surveyed together in these models. Thus for the spatial hybrid model, the uncertainty of fluid sloshing and the uncertainty from influencing of serial and parallel parts to each other are modeled and the relations are extracted. By using of a new method in design of robot, The dynamic compensation is performed. In final the optimal trajectory for move between two points with a specified cost function is planned. In the trajectory planning a new hybrid method is used.