Aimed at a kind of new typed 6 - prrs parallel robot , this paper studied the influence on its working space affected by the variation of structural parameters of the long rod , short rod , fixed platform and moving platform of this mechanism 摘要针对一种新构型的6 - prrs并联机器人，研究了该机构中长杆、短杆、固定平台、动平台结构参数的变化对其工作空间的影响。
The sensitivity analysis and discussion of pose measurement error caused by the measurement errors of coordinate measuring machine and by the coordinate errors of three standard spheres on the base platform has been done in detail . the pose measurement error formulas as function of the measurement errors of coordinate measuring machine and the coordinate errors of three standard spheres have been deduced and it has been discovered that larger relative diatances among the three standard shpheres will efficiently minimize the influence of the measurement error of coordinate measuring 推导出了三坐标测量机的测量误差、固定平台上三个标准球的位置误差对位姿测量误差的函数,发现只要适当地增大固定平台上三个标准球之间的相对距离,就能够有效地降低三坐标测量机的测量误差和固定平台上三个标准球的位置误差对位姿测量的影响,从而提高了位姿测量的准确性。
