Abstract: Taking into account the influence of randomness of clearance error caused by the joints including spherical and rotational hinges, this paper proposes an actual error model of parallel robot.Based on error analysis, a mathematical model of optimization for accuracy synthesis for parallel robots is established by taking accuracy of connecting rods and joints as design variables and manufacturing cost of tolerances as a target function, and making position and volume errors within the design criterion.The accuracy synthesis is carried out using chaos-genetic algorithms.This method has many advantages such as legibility, ease of programming and high precision as demonstrated by the simulation results.

Key words: parallel robot, accuracy synthesis, chaos-genetic algorithms