Elastostatic Stiffness Analysis for the US/UPS Parallel Manipulators

Table 2

Configuration and external loads of the 6-SPS PM.

Parameters (meters)	Units	Pose 1	Pose 2	Pose 3	Pose 4	Pose 5
X	mm	0	0	0	0	−70
Y	mm	0	0	0	0	60
Z	mm	430	430	430	430	430
	rad	0	pi/9	0	pi/9	0
	rad	0	pi/9	0	pi/9	0
	rad	0	0	pi/9	0	0
Fx	N	0	0	1	1	1
Fy	N	0	0	1	1	1
Fz	N	−1	−1	−1	−1	−1
Mx	Nm	0	0	1	1	1
My	Nm	0	0	1	1	1
Mz	Nm	0	0	1	1	1