中文摘要：

介绍了一种新型6-（P-2P-S）并联机器人,为提高其终端平台的定位精度,对该并联机器人进行误差分析。首先采用矩阵法建立了该并联机器人的误差模型,将奇异值分解理论应用于误差分析,得到并联机构输入误差与输出误差的关系;然后依据雅可比矩阵定义了误差方向敏感度和误差绝对敏感度评价指标,并绘制了两个评价指标在姿态空间的分布图;最后基于全域综合位置误差评价指标对结构参数进行了优化设计,为该并联机器人的设计和应用奠定了基础。

英文摘要：

A novel 6-（P-2P-S） parallel robot is introduced, and in order to improve the positioning precision of moving platform, error analysis is studied for this robot. First, the error model is established through the matrix meth- od. Appling the value decomposition theory, the relations of input and output error are deduced. Then the evaluation indicators of bath the error direction and error absolute according to the Jaclbe matrix are defined, and the distribution graphs of which in orientation workspace are drawn. Finally, based on the global comprehensive position error evalua- tion indicators, the structure parameters are optimized, which can be used as the valuable reference for application and design.