中文摘要：

提出了一种基于球面机构的二自由度驱动冗余并联机器人。建立了该球面并联机器人机构的约束方程，进行了运动学分析；建立了该球面并联机器人的设计空间，探讨了其机构的工作空间面积性能指标与杆件尺寸之间的关系，并绘制了相应的性能图谱。这些图谱是该并联机器人机构设计的重要参考依据。

英文摘要：

Based on the spherical mechanism, a kind of spherical 2 DOF parallel manipulators with actuation redundancy was presented. The mechanical constraint equation was established, the kinematics equation were solved, and the design space for the manipulators was established. The relationship between theoretical workspace and mechanical parameters was analyzed, the atlas for the workspace area of the manipulators was plotted. The atlas is very useful for design of the manipula tors with respect to workspace index.