Abstract
The 6 x 6 stiffness matrix for a single Stewart platform tensile truss is well known. This work extends the methodology used to determine the stiffness matrix of a double Stewart platform system, in which one Stewart platform is stacked on top of another, in serial fashion. A double Stewart platform may offer advantages for some applications in terms of increased stiffness in certain directions. Using principles of statics and considering small displacement perturbations in three-dimensional space of both mobile platforms (middle and bottom) from their weighted equilibrium locations, displacements can be related in a linear manner to application loading, implying a stiffness matrix. Scripts are then developed and executed in MATLAB (TM) to determine the stiffness matrix of a specific system. The MATLAB (TM) result is validated using single and double Stewart platform physical models and measuring system compliance responses to external forces and moments.