Characteristics of Stewart platform as a five degree of freedom manipulator

This paper investigates the kinematic characteristics of the Stewart platform as a five degree of freedom manipulator according to the requirement of manufacture. The concept of the extra degree of freedom (EDOF) is introduced. The algorithm to determine the actual movement ability in the EDOF and the method to enhance the performance of the manipulator using the EDOF are proposed. A typical model of the Stewart platform is studied. Its workspace and manipulation at different limitation of the EDOF are investigated. It is proved that the EDOF is useful in improving the performance of the platform. It is also expected to be helpful in the instantaneous control of the Stewart platform.