... by using the closed-loop method, considering the pulley radius. Second, the influence of the structural parameters errors on the error of the end-effector is analyzed with the sensitivity index, which establishes a theoretical basis for the simplification of the accuracy synthesis process. Third...

..., the optimization problem is also constrained with bounds on the parameters, with the reachability of a given workspace and with a given range on a kinematic sensitivity index. Since different initial guesses of the optimization process lead to similar objective results, it is proposed to search for several local...