目的 研究一种用于球体表面装饰的串联式球面剪叉机构的运动学性能与轨迹规划。方法 运用螺旋理论和修正的Kutzbach-Grübler公式计算机构的自由度，利用球面三角运算法则和坐标变换法，建立串联式球面剪叉机构的运动学模型，并采用Denavit-Hartenberg（D-H）四元数法对机构进行正运动学和逆运动学的求解，利用Matlab软件进行机构的工作空间求解，利用SolidWorks动态仿真法对机构进行轨迹规划，并进行运动性能分析。结果 通过实例得出了机构在球面上按给定轨迹运行时的运动规律与实际规划轨迹的运动规律性能相符。结论 串联式球面剪叉机构具有工作空间大、运动灵活、运动性能良好等优点，适用于在球体外包装表面上雕刻、喷绘以及其他相关应用领域。

The work aims to study the kinematic performance and trajectory planning of a series spherical scissors mechanism used in spherical surface decoration. The degree of freedom of the mechanism was calculated by screw theory and modified Kutzbach-Grübler formula. The kinematics model of the series spherical scissors mechanism was established by spherical triangle operation rule and coordinate transformation method. The forward kinematics and inverse kinematics of the mechanism were solved by Denavit-Hartenberg (D-H) quaternion method. The workspace of the mechanism was solved by Matlab software. The trajectory planning of the mechanism was simulated by SolidWorks dynamic simulation method and the kinematic performance was analyzed. Through the example, the kinematic performance of the mechanism running according to a given trajectory on the sphere was proved to be consistent with that according to actual planned trajectory. The mechanism has the advantages of large workspace, flexible movement and good motion performance and is suitable for engraving and spray painting on the spherical surface, and other related application fields.