目的 分析球关节摆角对6-PSS并联机器人工作空间的影响，衡量机器人能否完成预期作业任务。方法 利用圆柱坐标快速搜索算法，结合机器人逆解，对6-PSS并联机器人的最大工作空间边界进行搜索，分析球关节最大摆角对机器人工作空间的形状和体积的影响。结果 计算结果表明，球关节摆角主要影响机器人可达工作空间在xy平面上的大小。球关节最大摆角在5°～16°，机器人可达工作空间边界的体积呈近似直线增加，在16°～19°增长趋于平缓，在19°之后保持不变。结论 在其他参数保持不变的前提下，球关节轴承最大摆角在19°之后不影响6-PSS并联机器人工作的空间大小。

The work aims to analyze the influence of ball joint swinging angle on 6-PSS parallel manipulator workspace, and measure whether the manipulator can accomplish its desired task. The cylindrical coordinate fast search algorithm, combined with the inverse solution, was applied to search the maximum workspace boundary of 6 PSS parallel manipulator. The influence of the maximum ball joint swinging angle on shape and volume of manipulator workspace was analyzed. The calculation results showed that the ball joint swinging angle was the factors mainly influencing the size of manipulator’s reachable workspace in the xy plane. The manipulator’s reachable workspace volume was approximately in linear increase when the ball joint swinging angle was between 5° and 16°, and then the growth tended to flatten out between 16° and 19° and finally remained the same after 19°. It concludes that, if other parameters remain unchanged, the maximum ball joint swinging angle will not affect the size of 6-PSS parallel manipulator workspace after 19°.