Anatoly Pashkevich Damien Chablat Philippe Wenger Stiffness analysis of 3-d.o.f. overconstrained translational parallel manipulators. 1562-1567 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543424 conf/icra/2008 db/conf/icra/icra2008.html#PashkevichCW08