Statics and stiffness analysis of 3-RSR parallel manipulator

Jacobian matrix of 3-RSR parallel manipulator can be derived through the application of theory of screws.The external forces and moments acting on the moving platform can be mapped back to the actuated joint by using the Jacobian matrix,so the statics computation is easy.Also,the stiffness matrix can be derived through the Jacobian matrix.The conclusion is the basis of the dynamics analysis.