中文摘要：

基于并联机构运动学及概率论,对一种3-DOF驱动冗余并联机床进行了铰链间隙误差分析,分析了球铰间隙对动平台中心点位姿的影响.得到了动平台中心误差分布函数.为驱动冗余并联机构误差分析提供了理论基础,同时为提高并联机床精度提供了理论方法.

英文摘要：

Based on parallel mechanism kinematics and probability theory, the joint error analysis of a 3 -DOF parallel machine with actuation redundancy （PMAR） was presented. The effect of sphere joint clearance on the position error of the platform center was carried out and then error distribution function was derived. The result provides a theoretical foundation for the error analysis of PMAR, and the method of improving accuracy of PKM by actuation redundancy was got through this research.