关键词: 机械系统, 运动误差, 拓扑反变, 误差分析

Abstract: Based on the principles of topology contravariant，a new framework for error analysis of mechanical system is proposed.Using the theory，the original information space，final information space and topology contravariant operator are established to describe the error analysis problem and transform motion error space of the mechanical system to the error source space.It is a new point of view on error analysis of mechanical system to reduce error from error source space，which can be the foundation to further improve the work quality of the system.The method of error analysis is applied for the parallel robot.The result of simulation experiment indicates that the work quality of parallel robot can be further improved by reducing the parameter of the pose error.The validity of the proposed approach is demonstrated by simulation experiment.

Key words: mechanical system, motion error, topology contravariant, error analysis