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喷浆机器人的大臂结构采用了四连杆结构，为了满足其运动过程中对高度定位误差的要求，对机器人各构件的加工尺寸误差、安装位至误差及主动件的运动位里误差在其中的影响程度做了全面分析，为各部分误差经济、合理地确定提供了科学依据。最后，借助概率统计方法，求得了六臂运动过程中定位的极限误差。
In order to meet the requirements of high-level positioning errors during the movement of the shotcrete robot, the four-bar structure is adopted. In order to meet the requirements of the positioning error of the robot during its movement, the error of the machining size, the installation position to the error and the movement position of the active member are included A comprehensive analysis of the impact of the degree of error for all parts of a reasonable and provide a scientific basis. Finally, with the help of probability statistical method, the limit error of positioning during six-arm motion was obtained.