This paper deals with the sensitivity analysis of 3-RPR planar parallel manipulators (PPMs). First, the sensitivity coefficients of the pose of the manipulator moving platform to variations in the geometric parameters and in the actuated variables are expressed algebraically. Moreover, two aggregate sensitivity indices are determined, one related to the orientation of the manipulator moving platform and another one related to its position. Then, a methodology is proposed to compare 3-RPR PPMs with regard to their dexterity, workspace size and sensitivity. Finally, the sensitivity of a 3-RPR PPM is analyzed in detail and four 3-RPR PPMs are compared as illustrative examples.
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