Posture error analysis on the Cartesian coordinates serial-parallel robot with redundant drive

The serial-parallel robot can be resolved into the serial combination of two parallel robots.Each branch chain of the parallel robot is all a serial branch chain.By utilizing the kinematics equivalency and considering the influences on posture errors of the final moving platform affected by end errors of each branch,the synthetic analytical method based on dynamic and static factors was put forward.The main affection factor was presented and effectiveness verification has been carried out on the conclusion of study by the form of a living example.