中文摘要：

以球面2-DOF冗余驱动并联机器人为研究对象,在考虑构件弹性的情况下,采用传统的拆杆法建立机构的静力学平衡方程,利用积分法求出各杆件变形,再运用小变形叠加原理建立机构的变形补充协调方程,共得到42个方程,但该机构为冗余机构,共有43个未知数,为此采用输入力优化方法,得到该机构静力学全解。通过数值算例,绘制输出轴在外载荷作用下沿给定轨迹的受力图。研究为该机构在工程中的结构设计与应用提供了静力学理论基础。

英文摘要：

The research subject is spherical 2-DOF parallel manipulator with actuation redundancy.Considering the elasticity of the bar,via the traditional dismantle-bar method,the static equilibrium equations of the mechanism are established,calculating the deformation of the bar by integral method,and then utilizing the micro-deformation and superposition principle,the deformation equations of compatibility are derived,42 equations are obtained,but there are 43 unknown parameters in all because of redundant mechanism.So static full-solutions of the manipulator are obtained via input forces optimization method.By numerical example,under the action of external load,drawing the output P-shaft＇s force diagram which is along the given trajectory.The research provides the theoretical basis of statics for structure design and application of the manipulator in engineering.