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提出了一种并联６自由度平台机构误差识别算法。本算法是通过相互垂直两个矢量的数量积来建立误差模型，避免了传统的并联机器人参数识别方法中，通过位置正解及循环迭代过程求解误差参数而带来的一系列间题。
A parallel 6 DOF mechanism error identification algorithm is proposed. The algorithm establishes the error model by counting the products of two vectors perpendicular to each other, and avoids a series of problems caused by solving the error parameters through the position positive solution and iterative iterative process in the traditional parallel robot parameter identification method.