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The parallel robot for semi-physical simulation platform of space docking mechanism is taken as the structure model, by treating each sun-chain of the parallel robot as a joint-link train, thus the error model in which structural parameter errors are considered is established from the kinematic equations and the loop properties of parallel structure. The error model is verified by computer simulation, and the results indicate that the error model established in this paper can approximately report the changing trend of the actual pose errors in the case where the parameter errors are small enough

Error Modeling of Parallel Robots for Semi-Physical Simulation Platform of Space Docking Mechanism