Stiffness Characteristics and Kinematics Analysis of Parallel 3-DOF Mechanism with Flexible Joints

To investigate the stiffness performance of planar parallel 3-RRR mechanism with flexible joints, the paper solve the first-order and second-order influence coefficient of the mechanism, and give the mechanism kinematics simulation. Based on the principle of virtual work, the constraint equation of the mechanism is established, and the stiffness matrix is deduced. In addition, the direction stiffness characteristic of the mechanism is discussed. So, a novel and general method are raised for analysis stiffness of planar parallel mechanism with flexible joints.