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In order to analyze the influence on absolute positioning accuracy of kinematics parameter errors of the delta parallel robot,apose error model is established and solved.Taking the transmission branch chain as serial mechanism,the kinematics model is solved by establishing D-H transformation matrix.By bringing the micro displacement of the slave arm into the D-H transformation matrix,on the basis of the uniqueness of the pose error of the mobile platform,the error model is established in the form of linear equations.In the end,taking a type of delta parallel robot as example,this model is validated by analyzing the pose error that caused by angle error of the gearbox mounting end face.This pose error model can serve as an analysis tool for the further research of precision analysis and error compensation.