中文摘要：

针对空间矢量定位、球面加工的任务需求，优化并加工了一台球面5R并联机构样机，结合样机的“PC＋PMAC卡”的主从分布式控制系统，利用C#语言开发了上位机的控制软件。基于运动学反解，利用球面机器人工作空间球对称的特点，采用坐标变换的方法将组合型轨迹规划曲线应用于机构末端的路径规划，在样机的有效工作空间内对球面上任意两点间的圆弧运动路径进行规划；最后通过ADAMS软件运动仿真及样机实验研究，验证运动学分析和路径规划方法的正确性。

英文摘要：

Aimed at the space vector location and spherical fabrication task demand, optimizing and machining a prototype of spherical 5R parallel mechanism, and combining with the ＂PC ＋ PMAC card＂ master-slave distributed control system of the prototype, the control software is developed by using C # language; Basing on the inverse kinematic, using spherical symmetry of spherical robot＇s workspace, applying combined trajectory curve to trajectory planning of this mechanism through the method of transformation of coordinates, and planning the arc motion path between any two points on the sphere in the prototype working space ; Finally, the correctness of the kinematics analysis and trajectory planning method are proved through ADAMS simulation and experimentation.