Sensitivity Analysis of a RFRFR Continuum Parallel Robot

The model of Continuum Parallel Robots (CPRs) often relies on an accurate knowledge of the material and geometrical properties of the system, which can be subjected to variations due to multiple factors such as fabrication parameters, oversimplifying assumptions, material fatigue, etc. This paper proposes a method based on a sensitivity analysis framework, that allows to map variations in the model parameters of a CPR to variations in the position of its End-Effector. Simulations of a planar RFRFR CPR, making use of the strong form of the Cosserat Rod model, are used to validate the method.