Sensitivity Analysis for Dynamic Characteristic of Flexible Parallel Robots

Based on the direct differential method, a sensitivity analysis method for the dynamic characteristic of flexible parallel robots was presented. Compared with finite difference method, the result of sensitivity is more precise. The method can also be used to estimate the numerical value of dynamic characteristic with the perturbation of design parameters, without carrying out Kineto-Elastodynamics analysis. The simulation shows that the method is accurate and efficient. The dynamic characteristic is sensitive to the variation of the cross-sectional area of the framed links, lumped mass attached to links and the thickness of the links. The sensitivity analysis for dynamic characteristic is demonstrated to have significant impact on kineto-elastodynamics synthesis and the optimal design of flexible parallel robots.