By the analysing method of direction cosine matrix ,we set up motion analysing model of spherical gear and fluted disc of this gear, thus provide the theoretical basis for control system design of actuating mechanism.

• 利用方向余弦矩阵分析法建立了球齿轮机构和球齿轮齿盘机构的运动分析模型，为执行机构的控制系统设计提供了理论依据。