# An analytical stiffness method for spring-articulated planar serial or quasi-serial manipulators under gravity and an arbitrary load

> Research article (Mechanism and Machine Theory, 2019) · cited 19× · AI/ML

**Wikidata**: [openalex:W2921231763](https://www.wikidata.org/wiki/openalex:W2921231763)  
**Source**: https://4ort.xyz/entity/an-analytical-stiffness-method-for-spring-articulated-planar-serial-or-quasi-serial-manipulators-under-gravity-and-an-ar