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This article proposes an analytical approach for vibration isolation of 6-UPS Stewart platform with precision payload.The dynamic formulation for the Stewart platform is established using the Newton-Euler approach.The stiffness of the leg, friction at joints, inertia and gravity effects are taken into considered in the model.Then the dynamic model formulated by vectors is scalarized in terms of the displacements and rotating angles of the precision payload.The nonlinear phenomena of the system are investigated in terms of the simulation results.And the influence of the installation angle and size of the platform on the nonlinear property is discussed.The disturbances are base excitations at different frequencies or the force and moment on payload and original states are not limited.Finally, the influence of nonlinear property on the active vibration control is studied.