目的 提出一种2-SPR/RUPR并联机构，用于在任意曲面上的雕刻与喷绘。方法 基于螺旋理论建立2-SPR/RUPR并联机构的螺旋矩阵，使用修正的G-K公式计算出机构的自由度。采用几何法和D-H法求解并联机构的位置逆解。通过三维动态法进行机构工作空间的搜索，再将数据点导入Matlab中进行工作空间的绘制。结果 求解得到2-SPR/RUPR并联机构的逆解，且工作空间呈实心蘑菇云状，给出了在曲面上雕刻和喷绘图案的实例。结论 该机构可以应用于曲面雕刻和喷绘，使得刀具与曲面相垂直进而提升了雕刻与喷绘的效果，可以实现任意曲面上的雕刻和喷绘。

The work aims to propose a 2-SPR/RUPR parallel mechanism for engraving and painting on arbitrary surfaces. The screw matrix of 2-SPR/RUPR parallel mechanism was established based on screw theory. The degree of freedom of the mechanism was calculated by modified G-K formula. The position inverse of the parallel mechanism was solved by geometrical method and D-H method. The 3D dynamic method was used to search the workspace of the mechanism and then the data points were imported into MATLAB for drawing the workspace. The inverse solution of the 2-SPR/RUPR parallel mechanism was obtained, and the working space was a solid mushroom cloud. An example of engraving and inkjet printing pattern on a surface was given. The mechanism can be applied for engraving and painting on curved surface, so that the cutter is perpendicular to the curved surface, thereby improving the effect of engraving and painting, and can realize engraving and painting on any curved surface.