The errors are contained in the linear mathematics model when they are minuteness.It has been proved that the algorithm can be applied to the error analysis of the 3-RRRT parallel manipulator.

• 当结构误差和末端误差都是微小量时，机器人误差为线性数学模型，仿真结果证实该算法可对3-RRRT并联机器人进行精度分析。