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并联柔性铰机器人是一类具有超精密定位能力的微动操作手，对这类采用非常规运动副的微动机器人，其静刚度在相当程度上决定了机器人的有载定位精度。该文首先通过一系列坐标系的建立和转换，导出终端位姿的摄动位移与柔性铰微变形间的映射关系，进而利用虚功原理提出并联柔性铰机器人的静刚度模型，显示出影响静刚度的主要因素不仅与传动刚度有关还与柔性铰的刚度有关，此外通过该模型研究了静刚度特性，其结果可用于指导机构优化设计。最后，以实例分析了并联柔性铰机器人的静刚度。
Parallel flexible hinge robot is a type of micro-operation with ultra-precision positioning of the operator, for such non-conventional movement of the micro-robot, the static stiffness to a considerable extent determines the accuracy of the robot’s on-load positioning. Firstly, a series of coordinate systems are established and transformed to derive the mapping relationship between the terminal position and attitude perturbation displacement and the flexible hinge micro-deformation, then the static stiffness model of the parallel flexible hinge robot is proposed by using the virtual work principle, The main factor of stiffness is not only related to the stiffness of the transmission but also to the stiffness of the flexible hinge. In addition, the static stiffness characteristics are studied by this model. The results can be used to guide the optimization design of the mechanism. Finally, the static stiffness of a parallel flexible articulated robot is analyzed by an example.