球面并联机构, 静力学, 超静定, 变形协调方程

Based on dismantle-bar method, a set of hyperstatic equilibrium equations of the spherical parallel mechanism 2-RRR+RRS were establised, and the deformation compatibility equations of the mechanism were also set up with the consideration of the elasticity of the mechanism and the superposition principle of small deformation. Then, corresponding different input forces and torques, the relationship curves among the forces acted on the components of the mechanism and the pose of the mechanism were obtained using MAPLE software, and the infulence of the applied external forces or the external torques on the mechansim was clarified. The research contents herein provide the theoretical foundation for the engineering design and practical applications of the 2-RRR+RRS spherical parallel mechanism.