In this article, an input᎐output transmissivity analysis of the Eclipse TM , which is a parallel machine tool capable of five-face rapid machining, is investigated. By splitting the weighted Jacobian matrices into two parts, the linear velocity, angular velocity, and force᎐moment transmissivities are analyzed. A new manipulability measure, which combines the volumes of manipulability ellipsoids and the condition numbers of the splitted Jacobian matrices, is proposed. Two link parameters, the radius of the upper platform and the length of a supporting links, are optimally designed by maximizing the new manipulability measure introduced. Computer simulations are provided. ᮊ 2000 John Wiley & Sons, Inc. ( ) ( )

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