Abstract: The dimensional synthesis of 6-DOF parallel manipulator with respect to the inverse kinematics is presented. The concept of the inverse velocity ellipsoid is proposed, the major semi-axis of which is equal to the maximal singular value of Jacobian matrix in terms of numerical value. So the problem of dimensional synthesis is formulated to find the manipulator geometry that minimizes the maximal singular value of Jacobian matrix over the whole desired workspace subject to the required kinematics of the moving platform through the enumeration method. The simulation result indicates that while meeting the requirement of the kinematics of moving platform, the manipulator can ensure the required maximum rod driving velocity being the lowest, and also has high dexterity.

Key words: Dimensional synthesis, Inverse velocity ellipsoid, Jacobian matrix, Parallel manipulator