自然杂志 ›› 2025, Vol. 47 ›› Issue (5): 360-372.doi: 10.3969/j.issn.0253-9608.2025.05.004

所属专题： 智能机器人

• 专题综述 • 上一篇    下一篇

Stewart并联智能机器人发展现状及前沿应用

王敏①②，张阳③，梁乾③，权冉③，肖才③，张迪③，孔一航①，王锐①，付士博①   

  1. ①上海大学 机电工程与自动化学院，上海 200444；②上海大学 海洋智能无人系统装备教育部工程研究中心， 上海 200444；③北京小米移动软件有限公司，北京 100089
  • 收稿日期:2025-05-06 出版日期:2025-10-25 发布日期:2025-10-20
  • 通讯作者: 王敏，研究方向：机械动力学、机器人、振动控制及利用。
  • 基金资助:
     国家自然科学基金项目(62273220)

 Development status and frontier applications of stewart parallel intelligent robots

 WANG Min①②, ZHANG Yang③, LIANG Qian③, QUAN Ran③, XIAO Cai③, ZHANG Di③, KONG Yihang①, WANG Rui①, FU Shibo①   

  1.  ① School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China; ② MOE Engineering Research Center of Unmanned Intelligent Marine Equipment, Shanghai University, Shanghai 200444, China; ③ Beijing Xiaomi Mobile Software Co., Ltd, Beijing 100089, China
  • Received:2025-05-06 Online:2025-10-25 Published:2025-10-20

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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，精密加工与装配和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

关键词: 并联机器人, Stewart智能平台, 多自由度应用, 运动模拟, 振动抑制

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 multi dimensional 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.

Key words:  , parallel robot, Stewart intelligent platform, multi-DOFs application, motion simulation, vibration suppression

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