This article is devoted to implement the stiffness
modeling of 1-DOF double pantograph robot, which consists
of two legs connected to each other with two revolute joints.
The stiffness modelling is implemented using two techniques:
Virtual joint modeling (VJM) and Matrix structural analysis
(MSA). In order to find end-effector deflection, an applied load is exerted along different directions at multiple points in the robot workspace, which is presented in scatter plots. The computational cost and difference between results were studied and compared for both methodologies.