21世纪初 ,发展以灵巧机械手、步行机器人、并联机床、可移动光学仪器平台、磁悬浮列车、汽车主动底盘等为代表的智能化机电产品将是我国机械工业的奋斗目标之一。这类机电产品具有材料新颖、结构轻巧、机动性强、智能化高等特点 ,产生了材料非线性、几何非线性、控制中的非线 In the early 21st century, the development of intelligent mechanical and electrical products represented by smart manipulators, walking robots, parallel machine tools, movable optical instruments platforms, maglev trains and active chassis of automobiles will be one of the goals of China’s machinery industry. Such mechanical and electrical products with novel materials, lightweight structure, mobility, high intelligence, resulting in a material nonlinear, geometric nonlinear, non-controlled