Abstract: Based on the derived dynamic model of a six-degree-of-freedom (6-DOF) Stewart platform, some physical characteristics of the model were analyzed and proved in detail using matrix analysis method, which consist of the boundedness of the coefficient matrixes of dynamic model, the skew-symmetry of the matrix functions, and the linear parameterization of the complete dynamic model of the 6-DOF Stewart platform. These works laid a foundation for the development of the nonlinear control strategies to achieve higher system performance by incorporating more structural system information, i.e. a model into the controller, and proving the stability of the corresponding control system. Furthermore, the linear parameterization model of the complete dynamic model can also be used in the physical parameters estimation of the dynamic system.