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The paper presents a new stiffness modelling method for overconstrainedparallel manipulators, which is applied to 3-d.o.f. translational mechanisms.It is based on a multidimensional lumped-parameter model that replaces the linkflexibility by localized 6-d.o.f. virtual springs. In contrast to other works,the method includes a FEA-based link stiffness evaluation and employs a newsolution strategy of the kinetostatic equations, which allows computing thestiffness matrix for the overconstrained architectures and for the singularmanipulator postures. The advantages of the developed technique are confirmedby application examples, which deal with comparative stiffness analysis of twotranslational parallel manipulators.

Analyse de la rigidit\'e des machines outils 3 axes d'architecture parall\`ele hyperstatique