F. Kuang-chao, F. Yetai, and Y. Xiaofen, Development of a micro-CMM," in International Manufacturing Leaders Forum on " Global Competitive Manufacturing, pp.1-7, 2005.

F. Gao, X. Lin, and . Zhao, New kinematic structures for 2-, 3-, 4-, and 5-DOF parallel manipulator designs, Mechanism and Machine Theory, pp.1395-1411, 2002.
DOI : 10.1016/S0094-114X(02)00044-7

X. Liu, J. Wang, and G. Pritschow, A new family of spatial 3-DoF fully-parallel manipulators with high rotational capability, Mechanism and Machine Theory, pp.475-494, 2005.
DOI : 10.1016/j.mechmachtheory.2004.10.001

C. Gang, Y. Shi-rong-ge, and . Wang, Error analysis of three degree-of-freedom changeable parallel measuring mechanism, Journal of China University of Mining & Technology, vol.17, issue.1, pp.101-104, 2007.

R. Che and Z. Meng, Error model and error compensation of six-freedom-degree parallel mechanism CMM, Journal of Harbin Institute of Technology, vol.36, issue.3, pp.317-320, 2004.

M. Li, R. Weibin, S. Lining, and L. Zheng, Error compensation for a parallel robot using back propagation neural networks, International Conference on Robotics and Biomimetics, pp.1658-1663, 2006.

Z. Meng, C. R. Huang, Q. C. , and Y. Z. , The direct-error-compensation method of measuring the error of a six-freedom-degree parallel mechanism CMM, Journal of Materials Processing Technology, vol.129, issue.1-3, pp.574-578, 2002.
DOI : 10.1016/S0924-0136(02)00643-X

K. Hunt, Structural Kinematics of In-Parallel-Actuated Robot-Arms, Journal of Mechanisms Transmissions and Automation in Design, vol.105, issue.4, pp.705-712, 1983.
DOI : 10.1115/1.3258540

R. Clavel and D. , A fast robot with parallel geometry, International Symposium on Industrial Robots, Switzerland, pp.91-100, 1988.

J. John and . Craig, Introduction to Robotics: Mechanics and Control, 1989.

K. Sugimoto, K. Duffy, and . Hunt, Special configurations of spatial mechanisms and robot arms, Mechanism and Machine Theory, pp.119-132, 1982.
DOI : 10.1016/0094-114X(82)90042-8

X. Liu, J. Wang, and G. Pritschow, Kinematics, singularity and workspace of planar 5R symmetrical parallel mechanisms, Mechanism and Machine Theory, pp.145-169, 2006.
DOI : 10.1016/j.mechmachtheory.2005.05.004

Y. Rui, T. Xiaoqiang, and L. Tiemin, Error Analysis and Distribution of 6-SPS and 6-PSS Reconfigurable, Tsinghua Science and Technology, vol.15, issue.5, pp.547-554, 2010.

R. Pierre, M. Nicolas, and . Philippe, Kinematic calibration of parallel mechanisms: a novel approach using legs observation, IEEE Transactions on Robotics, vol.4, pp.529-538, 2005.

H. Mahir and N. Leila, Design modification of parallel manipulators for optimum fault tolerance to joint jam, Mechanism and Machine Theory, pp.559-577, 2005.

L. Tsai, Robot Analysis-The Mechanics of Serial and Parallel Manipulators, 1999.

M. Raghavan, The Stewart Platform of General Geometry Has 40 Configurations, Journal of Mechanical Design, vol.115, issue.2, pp.277-82, 1993.
DOI : 10.1115/1.2919188

M. Abderrahim and A. Whittaker, Kinematic model identification of industrial manipulators, Robotics and Computer-Integrated Manufacturing, vol.16, issue.1, pp.1-8, 2000.
DOI : 10.1016/S0736-5845(99)00038-1

A. Dhingra, A. Almadi, and D. Kohli, Closed-form displacement analysis of 8, 9 and 10-Link Mechanisms, Mechanism and Machine Theory, pp.821-850, 2000.

S. Xiaolun and R. Fenton, A complete and general solution to the forward kinematics problem of platform-type robotic manipulators, Proceedings of the 1994 IEEE International Conference on Robotics and Automation, pp.3055-3062, 1994.
DOI : 10.1109/ROBOT.1994.351100

O. Didrit, M. Petitot, and E. Walter, Guaranteed solution of direct kinematic problems for general configurations of parallel manipulators, IEEE Transactions on Robotics and Automation, vol.14, issue.2, pp.259-266, 1998.
DOI : 10.1109/70.681244

C. Zhang and S. Shin-min, Forward kinematics of a class of parallel (Stewart) platform with closed-form solutions, IEEE International Conference on Robotics and Automation, pp.2676-2681, 1991.

P. Nanua, V. Waldron, and . Murthy, Direct kinematic Solution of a Stewart platform, IEEE Transactions on Robotics and Automation, vol.6, issue.4, pp.431-438, 1990.

S. Sreenivasan, P. Waldron, and . Nanua, Closed-form direct displacement analysis of a 6-6 Stewart platform, Mechanism and Machine Theory, pp.855-864, 1994.
DOI : 10.1016/0094-114X(94)90085-X

M. Griffis and J. Duffy, A forward displacement analysis of a class of stewart platforms, Journal of Robotic Systems, vol.4, issue.6, pp.703-720, 1989.
DOI : 10.1002/rob.4620060604

W. Lin, J. Griffis, and . Duffy, Forward Displacement Analyses of the 4-4 Stewart Platforms, Journal of Mechanical Design, vol.114, issue.3, pp.444-450, 1992.
DOI : 10.1115/1.2926572

C. Lin, X. Tang, and L. Wang, Precision design of modular parallel kinematic machines, Tool Engineering, vol.41, issue.8, pp.38-42, 2007.

W. Jian and M. Oren, On the accuracy of a stewart platform?Part I: The effect of manufacturing tolerances, IEEE International Conference on Robotics and Automation Los Alamitos, pp.114-134, 1993.

G. Chunhe, Y. Jingxia, and N. Jun, Nongeometric error identification and compensation for robotic system by inverse calibration, International Journal of Machine Tools and Manufacture, vol.40, pp.2119-2137, 2000.

A. Patel, F. Kornel, and . Ehmann, Calibration of a hexapod machine tool using a redundant leg, International Journal of Machine Tools and Manufacture, vol.40, issue.4, pp.489-512, 2000.
DOI : 10.1016/S0890-6955(99)00081-4

T. Oiwa, New coordinate measuring machine featuring a parallel mechanism, International Journal of the Japan Society for Precision Engineering, vol.31, issue.3, pp.232-233, 1997.

H. Zhuang and Y. Wang, A coordinate measuring machine with parallel mechanisms, IEEE Int, pp.3256-3261, 1997.

Z. Zhao and F. Perey, The Covariance Matrix of Derived Quantities and their Combination, Oak Ridg National Laboratory, 1992.

J. Clarke, Modelling uncertanity: A primer, 1998.

P. Dhanish and J. Mathew, Effect of CMM point coordinate uncertainty on uncertainties in determination of circular features, Measurement, vol.39, issue.6, pp.522-531, 2006.
DOI : 10.1016/j.measurement.2005.12.005

B. W. Van-dorp, F. L. Haitjema, and . Delbre, Virtual CMM using Monte Carlo methods based on frequency content of the error signal, Recent Developments in Traceable Dimensional Measurements, pp.158-167, 2001.
DOI : 10.1117/12.445616

M. Brizard, C. Megharfi, and . Verdier, Absolute falling-ball viscometer: evaluation of measurement uncertainty, Metrologia, vol.42, issue.4, pp.298-303, 2005.
DOI : 10.1088/0026-1394/42/4/015

J. Suzanne, . Canning, C. John, T. L. Ziegert, and . Schm, Coordinate metrology uncertainty using parallel kinematic techniques, International Journal of Machine Tools and Manufacture, vol.47, issue.3-4, pp.658-665, 2007.
DOI : 10.1016/j.ijmachtools.2006.04.010