Abstract:In order to establish mapping relationship between allerror sources and the position errors of the polish robot endeffector,kinematics model of the polishing robot was established based on screw theory.The possibleproduced main sources of errors were analyzed.By mean of the geometric relationship between the sources of the errorsto establish the error screw, the static error model was obtained.The analysis work was done about the impact of the individual errors on the robot endeffector position error and a significant impact on the end position errorby all error sourcesto provide precision reliable analytic reference for the proposed optimization program.The analysis results show that the structure of errors and transmission errors are the main factors of impact on the robot static position accuracy, in which the structure errors are steady stateerrors, that can be reduced or compensated by the precision design, and transmission errors is required to solve by the latter calibrate program.