Parallel manipulators with two end-effectors: Getting a grip on Jacobian-based stiffness analysis

Robots that are developed for applications which require a high stiffness-over-inertia ratio, such as pick-and-place robots, machining robots, or haptic devices, are often based on parallel manipulators. Parallel manipulators connect an end-effector to an inertial base using multiple serial kinematic chains. This architecture enables the design...