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推出了ＲＲＰＲＲＰ机械手工作位姿误差表达式；分析了工作位姿误差与各构件相关公差间的关系；提出了一种能确保机械手工作位姿精度的新的设计方法。
The error expression of RRPRRP manipulator position attitude was introduced. The relationship between working position and attitude error and the relative tolerances of each component was analyzed. A new design method was proposed to ensure the manipulator pose accuracy.