中文摘要：

基于球面三自由度并联机器人，研制了一种肩关节，分析这种肩关节的运动传递性能及其在工作空间内的分布规律。介绍这种肩关节的结构布局特点，推导出其运动传递方程；基于运动传递方程，定义速度传递性能评价指标，并分析速度传递性能评价指标在工作空间内的分布规律。分析结果表明，这种肩关节具有较好的运动传递性能。

英文摘要：

A shoulder was designed based on the spherical 3-DOF manipulator, the kinematic transmission property and the distribution of its evaluation index in the workspace were analyzed. The layout feature of the shoulder was described. The kinematic transmission function was deduced. The kinematic transmission capacity evaluation index was defined based on the kinematic transmission function. The distribution of the kinematics transmission capacity evaluation index in the workspace was drawn. The analysis result demonstrates this shoulder has good kinematic transmission property.