var arr = [[1, [2, [ [3, 4], 5], 6]]];

var merged = [];

var flatten = flattenArray(arr,merged);
function flattenArray(arr, dest) {
var flatArray = dest || [],
n = arr.length,
i, val;
for (i = 0; i < n; i++) {
val = arr[i];
if (Array.isArray(val)) {
flattenArray(val, flatArray);
} else {
flatArray.push(val);
}
}
return flatArray;
}