Abstract
The analytical stiffness equations of 6-SPS spatial parallel manipulator were deduced based on the Conservative Congruence Transformation (CCT) stiffness matrix. The stiffness mappings of the 6-SPS manipulator were given to show the change and behavior of the stiffness with external forces acted on the manipulator. The results show that the stiffness of the 6-SPS manipulator is configuration dependent, and proportional to the actuating forces and joint stiffness. The stiffness is correlates not only to the magnitude of external forces but also the direction of the external force acted upon.
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