This paper studied the stiffness model and characteristics of a planar 3-RPS PM with 3-DOF. The 6 × 6 form stiffness matrix of the planar 3-RPS PM is derived with both active and constrained wrenches considered. To characteristic the stiffness of the planer 3-RPS PM, two decomposition methods including the eigen-screw decomposition and the principle axes decomposition are applied to the stiffness matrix. The stiffness matrix decomposition provides a physical interpretation and allows the identification of the compliant axes of the planar 3-RPS PM.
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Zhang, D., & Wei, B. (2017). Mechatronics and Robotics Engineering for Advanced and Intelligent Manufacturing (pp. 87–96). Retrieved from http://link.springer.com/10.1007/978-3-319-33581-0