喷浆机器人的大臂结构采用了四连杆机构，为了满足其运动过程中对高度定位误差的要求，对机器人各构件的加工尺寸误差、安装位置误差及主动件的运动位置误差在其中的影响程度做了全面分析，为各部分误差经济、合理地确定提供了科学依据。最后，借助概率统计方法，求得了大臂运动过程中定位的极限误差。 In order to meet the requirement of high positioning error in the course of its movement, the influence on the machining size error, the installation position error and the movement position error of the active parts of the robotic arm are adopted in the boom structure of the shotcrete robot. A comprehensive analysis of the degree, for all parts of the economy to provide a scientific basis for a reasonable and reasonable. Finally, with the help of probabilistic statistical method, the limit error of positioning during the boom movement was obtained.