Kinematic sensitivity analysis of manipulators using a novel dimensionless index

Geometric errors directly affect the position of end-effector a Parallel Kinematic Manipulator (PKM), thus reducing its positioning accuracy. However, tasks that are performed by PKMs, such as high-precision machining using kinematic model with nominal values, affected machine not taken into account. Therefore, it is important to make an accurate determination machine’s error factors obtain model. Identifying most crucial geometric and determining method control them key in improving accuracy PKMs. To achieve this objective, new sensitivity analysis, allowing for parallel serial manipulators be identified, proposed. A dimensionless index, based on definition Local Sensitivity Index (LSI), used perform analysis. The modeling deriving vector PKM. test efficiency proposed method, main sources PAR2 PKM identified. results show 33.3% components (main errors) from all can improved, 51.8% improvement error. These indicate analysis quite effective, significantly contribute