由於史都華平台(Stewart platform)的性能分析方法不夠完備，尚難以提供完整的構型分析與設計於實際應用上，並且對於奇異點的位置無法確定。本研究以廣義不共平面史都華平台為主要研究對象，研發出一套有系統的平行機構性能分析工具與設計程序，以幫助設計者得到符合設計需求的構型。
本研究從普魯克座標矩陣奇異值在平行機構上所代表的意義，逐步推究出機械性能指標，並推廣至正交向量分析法則完成設計工具的發展，且獲得如下的好處：

(1)解決普魯克座標矩陣的物理單位非齊次性問題，讓普魯克座標矩陣奇異值所發展的性能指標，具有更客觀與明確物理意義的性能表示性。並整合性能指標與基底向量正交性分析法則的分析資料，充分掌握連桿指向與設計參數對於性能變化的影響趨勢。

(2)可以因應在實際工業應用上構型的不同應用狀況，設計出符合特定需求與應用的構型。

(3)在參數研究的過程中，能夠明確掌握設計規格的特性。並獲得將廣義HEXAPOD構型三軸及五軸性能圖示簡化的方法，增加性能分析的效率。

(4)提供完整的設計程序。經由本研究所法展的設計工具與程序可以快速地分析與設計平行機構。

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