中文摘要：

利用齐次坐标变换推导了一种新型五自由度平动、转动独立的复合机构的位姿反解。基于位姿反解和一阶泰勒展开，建立了考虑机构形位尺寸误差、转动副间隙误差和驱动误差的位姿误差计算模型。应用误差模型能够得出末端执行器位姿误差和各个误差源之间的显式映射关系，定量地分析各个误差源对机构运动精度的影响程度，从而确定机构中影响其运动精度的关键环节。应用差分法就机构位置误差对主要设计变量的灵敏度进行了分析计算。灵敏度分析有助于合理确定机构的设计参数。位姿误差建模及灵敏度分析为该复合机构的优化设计和误差补偿提供了理论基础。

英文摘要：

Applying homogeneous transformation, inverse kinematics of a novel 5- DOF mechanism of independent translational and rotational movements was deduced. Based on inverse kinematics and the first order Taylor ＇approach, error model considering original errors from kinematics parameters,clearance errors of revolving joint and driving errors was presented. From the model, functional relationship between kinematics reliability of tool tip and every error resources was got; the contribution of each error component to the kinematics accuracy of the mechanism was analyzed and the key of all error resources was confirmed. Applying difference method, sensitivity analysis of main influencing parameters on position errors of tool tip was taken, and main design variables can be determined according to different parameter sensitivities. Error modeling and sensitivity analysis provides theoretical foundation for optimum design and error compensation of the robotic mechanism.