中文摘要：

以具有3平动特性的3-UPU并联机构为研究对象,分析各类装配误差对其自由度特性及运动误差影响的敏感程度。建立机构的运动学模型,列举较为常见的几类典型装配误差,并将其分类。以给定一定概率分布的数值误差为条件,应用数值方法对位姿正解进行两种情况的计算和分析：在给定误差数值的条件下,分析随着时间变化,机构末端操作器位姿误差的概率输出;在给定误差为符合特定分布的随机值的条件下,分析在特定运动瞬时,机构末端位姿误差的概率输出。得出在各类扭角装配误差存在情况下,机构位置和姿态误差分布规律。通过分析和对比得到的数值结果和模拟图形,得出各类扭角装配误差对机构运动平台影响的不同结果,按照其敏感程度,给出误差源大小的结论。

英文摘要：

The 3-UPU parallel manipulator which possesses 3D pure translational motion is taken as studying case.The sensitivity of degree of freedom characteristics and kinematic errors resulting from various kinds of assembly errors is observed.Kinematic model of the manipulator is established and typical assembly errors are enumerated.Based on the model and particular probability distribution,forward solution is solved and discussed in two cases by numerical method.The position and orientation error of end effect or changing with time is presented when error fixed.By using probability distribution theory,the influence of error sources amplitude on position and orientation error of manipulator in the particular time is assessed.By analyzing and comparing the numerical results and simulation illustrations,status of different assembly errors acting on moving platform are obtained.The error sources are estimated according to the sensitivity.