中文摘要：

介绍了Delta机器人的机械结构及造成其位置偏差的误差源,其中机器视觉中的球差影响、机械结构的种种因素的误差累积都是造成误差较大的原因,推导出了下运动平台抓取点的矢量方程。通过分离变量的方法,对于机械结构部分和机器视觉部分给出了详细的误差分析公式,并给出了误差的检测方法,为Delta机器人的误差补偿提供了理论依据。

英文摘要：

Based on Delta Robot＇ s description of mechanism, sources of error that caused the position deviation of the robot were systematically introduced. Spherical aberration influence in the machine vision, error accumulation of various mechanical structure fac- tors were both the reasons of the large error. The vector equations of motion platform＇ s crawling point were deduced. Error analysis for- mulas were given for the parts of mechanical structure and machine vision through the method of separation of variables in details. The error detection methods are given, which are taken as theoretical reference for the error compensation of the Deha Robot.