On Robust Mechanical Design of a PAR2 Delta-Like Parallel Kinematic Manipulator

Abstract Sensitivity analysis of manipulators aims at studying the influence variations in its own geometric parameters on performance. This information is useful for evaluating position error end-effector as well synthesis tolerances. Indeed, tolerances a very important issue design and manufacturing robot manipulators. In this paper, sequential procedure modeling, dimensioning, tolerance Parallel Kinematic Manipulator (PKM) PAR2 proposed. For optimal dimensional design, an approach based optimization workspace proposed, taking into account several constraints, followed by numerical matrix analysis-based deterministic method sensitivity whose performance studied terms accuracy. To calculate tolerances, new used. The effect accuracy analyzed.