目的 提出一种RPR/RRPR球面并联机构，用于球面外包装的喷绘和雕刻。方法 对RPR/RRPR球面并联机构进行数学模型的建立，分析机构的正运动学和逆运动学解。根据运动学分析，使用Matlab和SolidWorks软件分别绘制机构2支链支撑杆在不同夹角下机构参考点的可达工作空间，并分析可达工作空间的变化规律。结果RPR/RRPR球面并联机构在一个对称的可达空间内，可达工作空间的面积随2支链支撑杆的夹角的增大而增大。结论 RPR/RRPR球面并联机构用于球面外包装的喷绘与雕刻，结构简单且运动性能良好，具有较大的工作空间，可以提高球面外包装喷绘和雕刻工序的效率。

The work aims to propose a RPR/RRPR spherical parallel mechanism, which can be used for inkjet printing and engraving of spherical outer package. The mathematical model of RPR/RRPR spherical parallel mechanism was established. The solutions to forward kinematics and inverse kinematics of the mechanism were analyzed. According to the kinematic analysis, Matlab and SolidWorks were respectively used to draw the reachable workspace of the reference points of the mechanism when its two branched chain supporting rod was under different angles, and the change law of the reachable workspace was analyzed. The results showed that the RPR/RRPR spherical parallel mechanism was in a symmetric reachable workspace, and the area of reachable workspace was increased with the increase in the angle of the two branched chain supporting rod. RPR/RRPR spherical parallel mechanism is used for inkjet printing and engraving of the spherical outer package. The structure is simple and has good working performance and a larger workspace, which can improve the efficiency of inkjet printing and engraving process of the spherical outer package.