Due to the lack of connection between configuration synthesis and performance indices, many configurations obtained cannot meet the performance requirements, increasing the difficulty of configuration selection and prolonging the design cycle of the parallel mechanism (PM). In order to solve this problem, this paper proposes an inverse Jacobian matrix construction method based on performance indices. The method is realized by constructing singular values and singular vectors directly related to the performance indices. Furthermore, based on the screw expression form of the inverse Jacobian matrix, a new integrated design method that can directly meet the performance requirements is proposed. Finally, a novel ankle rehabilitation mechanism is presented using this method, and the correctness and effectiveness of the integrated design method are verified by theoretical analysis. Meanwhile, the analysis results show that the proposed method can effectively shorten PM's design time and simplify PM's design process, which has a good application value.

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