【摘要】 近年来，并联智能机器人成为机器人领域的一个重要研究方向，其中Stewart平台作为典型代表受到广泛关注。本文首先从Stewart平台结构特征入手，梳理其驱动方式、结构构型和控制目标；其次，介绍了Stewart平台在飞行、驾驶、船舶模拟器，精密加工与装配，以及卫星天线与望远镜定位等领域的应用，阐述了其在航天器微振动抑制、车载多维振动抑制和振动测试与模拟方面做出的贡献；最后，对Stewart平台的未来发展趋势进行总结和展望。更多还原

【Abstract】 In recent years, parallel intelligent robots have been a key research focus in robotics. As a classic example of parallel robotic systems, the Stewart platform attracts significant attention from researchers. This paper first analyzes the structural features of the Stewart platform, detailing its actuation methods, kinematic configurations, and control objectives. It then introduces the platform’s applications in various fields: flight, driving, and marine simulators; precision machining and assembly; and positioning systems for satellite antennas and telescopes. The discussion also covers the Stewart platform’s roles in suppressing micro-vibrations in spacecraft, mitigating multidimensional vibrations in vehicles, and enabling vibration testing and simulation. Finally, the paper summarizes current advancements and outlines future development directions, highlighting emerging trends in both theoretical research and engineering applications.更多还原