Elastostatic Stiffness Analysis for the US/UPS Parallel Manipulators

Figure 6

FEA simulation calculation of (a) the stiffness for pose 2 angle change, (b) the stiffness for pose 3 displacement change, (c) the stiffness for pose 3 angle change, and (d) the stiffness for pose 4 displacement change.

(a)

(b)

(c)

(d)