The direct linearization method applied to position error in kinematic linkages

This paper demonstrates the direct linearization method (DLM) applied to position error in kinematic linkages due to link-length and angle variations. It combines the mathematical techniques used in assembly tolerance analysis and kinematic error analysis to demonstrate a method that is applicable to models that can be described using vector loops. A bivariate model using DLM is introduced and compared to other deterministic and probabilistic methods using a multiple-loop mechanism as an example. The bivariate model is shown to be an efficient and accurate means of estimating the position error in kinematic linkages.