中文摘要：

以一种球面二自由度冗余驱动并联机器人机构为研究对象，基于机构参数设计空间及可达工作空间形成原理，利用几何法详细分析了该球面二自由度冗余驱动并联机器人机构的可达工作空间形状与机构设计参数之间的关系，并借助于保角变换理论，将可达工作空间形状变换到平面上表示出来，研究结果为设计者系统地了解和掌握该机器人工作空间性能提供了参考。

英文摘要：

A kind of spherical 2- DOF parallel manipulator with actuation redundancy was investigated herein. Based on the geometric parameter design spaces and constraint conditions, the relationship between geometric design parameters and the reachable workspace was studied in detail by using geometric methodology. The shapes of reachable workspaee was expressed on the plane by using conformal transformation. These results will be very useful for designers to understand and grasp the performances of this manipulator＇s workspace.