提出一种以6-RRS超冗余驱动球面并联机构作为飞行模拟器的运动机构。该球面并联机构具有三个转动自由度，六个驱动，三个冗余驱动；两个完全相同的3-RRS球面并联机构构成6-RRS球面并联机构，该球面并联机构广义上仍然具有一个定平台，一个动平台，整个动平台即为飞行模式器座舱。该运动机构采用电气伺服系统驱动，从而克服了液压伺服系统的缺点；同时采用超冗余驱动达到大功率运动的目的。主要分析6-RRS超冗余驱动飞行模拟器的三项重要性能指标，利用螺旋理论给出该运动机构的雅可比矩阵，并以雅可比矩阵为核心分析该机构的灵巧度性能以及刚度性能和奇异性能。
A novel type of flight simulator with 6-RRS over-redundant actuation spherical parallel manipulator is proposed. It has 3 rotational degrees of freedom, 6 actuators and 3 redundant actuators. Two totally same spherical parallel manipulators consist of the flight simulator. It has one fixed base in general and one moving platform. The whole motive volume is served as the flight simulator’s capsule. The 6-RRS spherical parallel manipulator is driven by an electric servo-system that overcomes the drawbacks of hydraulic servo-system. It has advantage on workspace and actuation. The analysis of kinematics and performance analysis of the 6-RRS spherical parallel manipulator are given out, including Jacobian matrix and stiffness analysis, performance of dexterity and singularity.
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