The invention discloses a spherical articulated type three-coordinate flexible attitude-adjusting unit which comprises a base seat, an X direction ballscrew, a longitudinal planker, a cross planker, an upper planker, a supporting cylinder body, a telescopic column, a clamping sleeve, a ball-end clamping device, a technological ball-end, a Z direction grating ruler, a Z direction ballscrew, a worm gear reducer, a Y direction guide rail slide, a Y direction linear guide rail, an X direction reducer, an X direction servo motor, an X direction linear guide rail, an X direction guide rail slide, a Y direction servo motor, a Y direction reducer, a Z direction servo motor and a Y direction ballscrew, wherein, the closed-loop control is carried out through the driving of the servo motor and the ballscrews and the feedback of the grating ruler, the accurate positioning in the X, Y and Z directions is realized, and an organ cover is provided for protection. The spherical articulated type three-coordinate flexible attitude-adjusting unit realizes the accurate space positioning through the gang control in the three directions, a force sensor is arranged in the Z direction to ensure the safety, the stability and the reliability of the operation, the ball-end clamping device is provided with the characteristic of automatic following, and attitude-adjusting systems with various operating performances can be formed through the attitude-adjusting unit as the basic module.