Based on the special dendriform topological structure of the numerical control shoe last system and multi-rigid body system theory,a spatial error-calculating model of the system was built.

• 根据数控刻楦机系统特定的树状拓扑结构,利用多刚体系统理论建立了系统空间误差计算模型,通过讨论整个工作空间误差分布规律,找到系统最大误差位置。