Stiffness of serial and quasi-serial manipulators: comparison analysis Alexandr Klimchik, Evgeni Magid, Stephane Caro, Kriangkrai Waiyakan and Anatol Pashkevich MATEC Web Conf., 75 (2016) 02003 Published online: 01 September 2016 DOI: 10.1051/matecconf/20167502003