Abstract
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.