In this paper a novel approach to linearize the dynamic model locally by treating six struts of the Stewart platform as simple springs connected in parallel is proposed.

This paper takes forward kinematics based compensation control of Stewart platform as the research object Theoretical analysis using linearization method discovers the mechanism of FK based compensation control, and equivalent control model is put forward.

Dynamics analysis of Stewart platform driven by hydraulic considering actuator effection;

Compliant force control analysis of Stewart platform in space docking;

Characteristics analysis of dynamic model of 6-DOF Stewart platform;

Through the analysis of the Stewart platform s system characteristics,a expert PID control strategy with feedforward compensation is put forward.

The Stewart platform, which is a 6-DOF (degrees of freedom) parallel mechanism with two bodies connected together by six extensible legs through the joints, is generalized from the flight simulator proposed by Stewart (1965).

This paper presents a virtual prototyping design of the Stewart platform-based parallel machine tool (PMT) for bending metal pipes.

Based on the vector geometry a kinematics accuracy model of six dof Stewart platform is developed which is applied in the analysis of the newly designed fine tuning stable platform for large radio telescope (LT), with the analytical results also given.

A stable Stewart Platform is designed for large telescope(LT) fine tuning, a mathematical model for kinematics control is gained by coordinate transformation, quasi dynamic analysis is made with Jacobian matrix, and kinematics accuracy results are given, which show that the designed Stewart Platform is effective for the accuracy requirement of LT feed trajectory control.

Nonlinear coupling in Stewart platform makes the design and testing of this kind of machine tools very complicated and must be implemented with the computer.