本文简单介绍球面六杆机构,并对球面六杆机构进行位置分析,即运用Solid works工具把普通平面六杆机构转化成球面六杆机构,再研究分析球面六杆机构各点位置,通过旋转矩阵建立起球面六杆机构约束方程,得出球面六杆机构某些角度,以此进行位置分析。 This article briefly introduces the spherical six-bar mechanism, and the spherical six-bar mechanism for position analysis, that is, the use of Solid works tool to ordinary six-bar mechanism into a spherical six-bar mechanism, and then study the spherical six-bar mechanism of the location of each point through the rotation matrix The spherical six-bar mechanism constraint equation was established, and some angles of the spherical six-bar mechanism were obtained to analyze the position.