| Summary: | 碩士 === 國立清華大學 === 動力機械工程學系 === 88 === In this research project our final goal is to develop a systematic design methodology for a 5-DOF Stewart platform. To this end, this project will be proceeded in the following procedure:
(1)Investigate into the overall performance（including mechanical efficiency，stiffness, feed rate, and singularity exclusion） of a Stewart platform using the Plucker coordinate, and define the performance indices of these machanical performance.
(2)Investigate into the effect of platform parameters on the performance of a Stewart platform through parametric studies to conclude useful guidelines for a design.
(3)Base on the previous results, integrate the design sights and simplified formula to result in a performance design methodology for a 5-DOF Stewart platform.
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