Based on parallel mechanism kinematics and probability theory,the joint error analysis of a 3-DOF parallel machine with actuation redundancy(PMAR)was presented.

• 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。