Abstract
The kinematic sensitivity is a unit-consistent measure that has been recently proposed as a mechanism performance index to compare robot architectures. This paper presents a robust geometric approach for computing this index for the case of planar parallel mechanisms. The physical meaning of the kinematic sensitivity is investigated through different combinations of the Euclidean and infinity norms and by means of several illustrative examples. Finally, this paper opens some avenues to the dimensional synthesis of parallel mechanisms by exploring the meaning of the global kinematic sensitivity index.
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