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Stiffness modeling of parallel mechanisms at limb and joint/link levels

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Figure

Fig. 2  Static equilibrium of the platform
Fig. 5  Coordinate transformation between m i, and   
Fig. 7  CAD model of a 3-PRS spindle head
Fig. 10 shows the distributions of tuand the angular displacement about the unit force and unit torque are evaluated at each configuration (a pair of translational displacements along three orthogonal axes of relevant linear and angular displacements

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