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"Abstract. The kinematic analysis of planar mechanisms is a very important tool to predict the position, velocity and
acceleration of planar mechanisms. In fact, those results vary due to dimensional variations that the linkages undergo
while they are manufactured. Dimensional variations arise due to tolerances that designers chose during the design
phase of the mechanisms. If the projected tolerances are very precise, the production costs can rise to an undesirable
magnitude. To reduce the production costs it is necessary to apply bigger tolerances which generate errors in the
position of the mechanism projected. This paper presents a new method to predict the position errors of planar
mechanisms including its dimensional variations. The variations in the position are included in the vectors that
characterize the linkages and they are approximated by means of Taylor series. The equation that represents the
position of the linkages is obtained by close loop vector, this equation corresponds to the residue of the close loop
vector and it is nonlinear. A deterministic solution for nonlinear equation is obtained by maximizing errors with
respect to each geometric parameter. A four bar mechanism is used as an example to explain in detail the new method,
the results of determined position are compared with results obtained by the Direct Linearization Method (DLM)
which shows that the proposed deterministic solution predicts bigger errors."