Four dimension workspace search method for six degree of freedom Stewart platform

In order to get the maximum angle range around Z axis of 6-DOF Stewart platform,four dimension workspace search method is proposed.Firstly,all possible kinematics inputs of the manipulator are got through dividing legs length averagely.Then the upper platform's position and orientation is obtained by direct position kinematics algorithm.Finally,the reachable position workspace is divided into several small parts,and in each part angles range's weighted value is regarded as fourth coordinate besides three dimension position.The four dimension workspace is very intuitional,and it can help to determine the leg length by which the manipulator could have maximum angle range around Z axis has been found depending it.