If the error of structural parameters of the spherical-wrist and the error of movement variables of every joint were comparatively big,there will produce rather big deviation in searching the posture error of end executor by the use of existed method.

Study on Kinematic Error Modeling of Machine Tool with Neural Network Method;

Experimental research & analysis on the kinematic error of cylindrical gear drive;

Moving pose of the table and kinematic error of the arms were analyzed.

Measurement and simulation of motion error in NC machine tools;

Testing and Simulating of Motion Errors or NC Machine Tool;

Accuracy design and motion error calculation of less toothed gear drive;

Reading contributions of generalized displacement sensors in the separation of form error and error motions;

With this method,the difference between the actual path length and approximated path length using equivalent phase center is revised firstly,then movement error is estimated utilizing the time de.

Based on the deep study of displaced phase center algorithm, an improved movement error estimation algorithm for multi-hydrophone SAS was proposed.

Aimed at analysing and developing 2-DOF decoupled spherical parallel mechanisms, this dissertation systematically deals with key issues of the mechanisms design, such as mechanism configuration, kinematics analysis, relations between linkage length and mechanism performances, and movement error analysis, etc.