构造出Ｓｔｅｗ ａｒｔ并联机器人操作机局部灵活度的解析模型，论证了各种灵活度指标取得极值条件的一致性，揭示出实现局部灵活度各向同性的尺度参数关系。基于对实现位姿能力和灵活度的综合考虑， 提出一种尺度参数的综合方法。通过算例论证了若结构参数使得局部灵活度是满意的， 则全域灵活度也一定是满意的 The analytical model of the local flexibility of Stew art parallel robot manipulators is constructed. The consistency of the extremum conditions obtained by various flexibility indices is demonstrated, and the scale parameter relations of local flexibility and isotropy are revealed. Based on the comprehensive consideration of the ability and flexibility to achieve the pose, a comprehensive method of scale parameters is proposed. A case study shows that if the structural parameters are such that the local flexibility is satisfactory, the global flexibility must also be satisfied