中文摘要：

以闭链约束方程为基础，建立了平面二自由度并联机器人的运动学误差模型，并进一步提出了基于两步迭代的运动学参数校准方法．通过先估计被动关节角度误差和运动学参数误差，实现了对并联机器人运动学参数的估计．该方法通过对并联机器人12个运动学参数的校准仿真实验，对所提参数估计方法进行了验证，得到了准确的参数估计结果．

英文摘要：

Based on the closed-loop constraint equations, （degree of freedom） parallel manipulator was constructed. model of the kinematic error of a planar 2-Dof With the model, a two-step iteration method was proposed for the kinematic calibration of the parallel manipulator. By estimating the passive joint errors and the kinematic parameter errors, the kinematic parameters of the parallel manipulator can be calibrated with the method. Through the simulations for the calibration of the 12 kinematic parameters of the parallel manipulator, the validity of the method was verified and precise calibration results were obtained for the kinematic parameters.