中文摘要：

对用于飞行器半实物仿真试验的6自由度并联机构逆向运动学性能进行尺度综合研究。提出逆向速度椭球的概念，当逆向速度椭球的长半轴长度越短时，对于给定的机构动平台运动学要求，所需的连杆驱动速度越低。由于逆向速度椭球的长半轴长度在数值上与雅可比矩阵的最大奇异值等价，因此以雅可比矩阵最大奇异值全工作空间最小为尺度综合的目标函数，在工作空间的约束下，利用穷举法对6自由度并联机构进行尺度综合。结果表明，机构在满足动平台运动学要求的同时，能够保证所需的连杆最大驱动速度最低，并且还具有很高的灵活度。

英文摘要：

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.