中文摘要：

以6-SPS并联机器人机构为例，根据结构约束条件，基于机构瞬时运动方向，找出结构误差敏感方向，建立了敏感方向上的输入误差与输出误差之间的解析关系式，得出误差影响系数，实现了该机构的误差综合。实例证明，并联机构输入误差即使很小，输出误差也可能很大。

英文摘要：

This paper was illustrated by Stewart platform to show a novel method for error synthesis of parallel manipulator. According to the structural constraint conditions, analytic functions between input errors and output errors were founded in the sensitive directions of errors, based on the instantaneous motion of the mechanism, the influence coefficient of errors were acquired. Then, the mechanism error synthesis was implemented. The example proves that the output errors can be larger under the conditions of even small input errors.