中文摘要：

精密球铰链在并联机构中有着非常广泛的应用，但其自身结构的局限影响了并联机构的工作空间，而且其制造误差及装配过程中所产生的间隙误差是提高并联机构运动精度的主要障碍之一。从球铰链结构、误差特点及运动学建模等方面进行了比较深入的阐述，讨论了提高球铰链精度的措施以及误差补偿的方法。

英文摘要：

Precision ball joint is widely used in parallel mechanism, but its structure limitation influences parallel mechanism workspace, in addition, the clearance error produced in assembling and manufacturing process decreases the working accuracy of parallel mechanism. The paper focused on structure characteristic, error property and kinematic model of ball joint, and discussed them penetratingly. At last. some methods to improve ball joint accuracy arc proposed.