This　paper　develops　a　novel　analytical　framework　for　system　kinematic　reliability　sensitivity　analysis　of　robotic　manipulators,　which　can　provide　the　analytical　results　of　local　and　global　reliability　sensitivity　defined　on　the　pose　and　position　errors.　First,　uncertainty　analysis　of　the　pose　error　of　the　end-effector　is　accomplished　by　virtue　of　the　second-order　closed-form　error　propagation　formula　on　motion　groups.　Then,　the　system　kinematic　reliability,　namely　the　probability　of　the　system　kinematic　error　located　within　the　prescribed　safe　boundary,　is　analytically　calculated.　Specifically,　the　non-central　chi-square　approximation　and　expectation　propagation　technique　are　employed　to　compute　the　system　kinematic　reliability　defined　on　the　position　and　pose　errors,　respectively.　On　this　basis,　the　local　and　global　system　kinematic　reliability　sensitivity　of　robotic　manipulators　are　analytically　obtained.　Finally,　the　effectiveness　of　the　proposed　method　is　validated　by　comparison　with　the　Monte　Carlo　simulation　and　Kriging　modeling　method.　The　results　indicate　the　proposed　method　has　good　efficacy　and　efficiency　in　system　kinematic　reliability　sensitivity　analysis　for　robotic　manipulators.　©　2021