Abstract: Based on the recurrence of robotic open chain mechanism,this paper analyzesthe effects of the clearance and assembly error of the joints,error of the roboticlinks and the links deformation due to vibration on the kinematic and dynamic equati-ons of robot,particularly on the pose,speed and acceleration of the end effector.And the kinematic and dynamic error models of robot are derived.Finally,a sugges-tion to decrease the error in design and compensate the error on the control soft-ware is given.