An analytical approach to the dimensional synthesis of spherical parallel manipulators is investigated. With both the isotropy and force transmission behavior considered, a set of closed-form parametric relationships is obtained which enable a global conditioning index to be achieved in the overall workspace. The outcome has been used for the kinematic design of a novel swivel worktable. An analytical approach to the dimensional synthesis of spherical parallel manipulators is investigated. With both the isotropy and force transmission behavior considered, a set of closed-form parametric relationships is obtained which enable a global conditioning index to be achieved in the overall workspace. has been used for the kinematic design of a novel swivel worktable.