中文摘要：

在模块化并联机器的精度设计中,以模块化结构设计为基础,建立了一种标准化的误差模型,研究了模块的误差与末端执行器输出误差之间的关系。使用6-SPS构型的模块化并联机器进行实验,并与理论计算的结果进行比较。

英文摘要：

In precision design of modular Parallel Kinematic Machines(PKMs), based on modular structure design, a standard error model was proposed to establish relationship between the errors of common modules and the end-effector. After experiments are designed and implemented on a 6-SPS modular PKMs, the result is compared with theory model.