中文摘要：

提出了一种并联机构误差传递建模的区域映射方法，采用确切的误差输出区域来描述机构末端的定位精度特性。基于Delaunay三角剖分，采用独立误差因素依次作用、逐层求解的方式建立了输出误差区域的边界推进求解算法，可快速确定末端位置和姿态误差的确切区域。采用上述方法，以末端输出位置误差区域的体积和最大值作为优化目标，对6-PSS型并联实验平台进行了精度设计，最终获得了确保定位精度性能的杆长公差参数。

英文摘要：

A region mapping method using the error transmission model of parallel mechanisms is proposed to describe positioning accuracy characteristics of the end-effector as exact error output regions. On the basis of Delaunay triangulation, an advancing front approach, in which error region is influenced successively by independent error factors and solved layer by layer, is proposed to quickly determine the exact position and orientation error region of the end- effector. With the above method, a precision design, in which volume and maximum error of the position error region are selected as optimization goals, is performed on a 6 - PSS parallel experimental platform to design the tolerances of the bar lengths to ensure positioning accuracy performance.