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提出了一个用于微机器人精度分析的通用方法，该方法以广义几何误差的形式描述各种误差源对机器人本体产生的影响，通过任两坐标系间的向后微分关系，利用运动学方程以及并联机构的环路特性，建立了微机器人的广义几何误差模型。基于此模型，对工作空间中的位姿误差进行了仿真分析，验证了该法的有效性。此方法虽然是针对微机器人，但可推广应用到一般并联机器人的误差建模和精度分析。
A general method for precision analysis of micro-robot is proposed. The method describes the influence of various error sources on the robot body in the form of generalized geometric errors. By means of backward differential relations between any two coordinate systems, kinematics equations and Parallel mechanism of the loop characteristics, the establishment of a micro-robot generalized geometric error model. Based on this model, the pose error in work space is simulated and the validity of the method is verified. Although this method is aimed at micro-robot, it can be widely applied to error modeling and precision analysis of general parallel robot.