中文摘要：

利用螺旋理论分析组成少自由度并联机构的转动副轴线和移动副轴线之间的几何关系,根据运动副轴线之间的关系,分析由于加工、安装等原因造成的机构运动副轴线可能存在的误差形式。给出当机器人存在不相交误差和不平行误差时,少自由度机器人的各分支对于机器人的动平台的约束形式,以及存在这些约束下,少自由度并联机器人可能实现的运动形式。对具有相同分支的少自由度并联机器人建立误差模型。给出机器人动平台的真实运动模型,试验验证了前面分析的正确性。

英文摘要：

For lower degree of freedom parallel robot, the relations between revolute pair and prismatic pair are analyzed by using screw theory. According to the relations, the constraint errors due to manufacturing and installation are proposed. Three basic types of constraint errors are identified, and an approach to evaluating the effects of constraint errors on characteristics of parallel manipulators is proposed. The modeling for the lower degree of freedom parallel robot with identical limbs of constraint errors is established. The actual motion is analyzed in order to validate the theory.