This paper introduced the important role of the remote sensing satellite in remote sensing field. There existed some defects for a traditional classical AZ-EL type antenna used in tracking remote sensing satellite. The design project of Stewart manipulator antenna was presented by Stewart manipulator designing theory. The singular configuration theory of Stewart manipulator introduced position singularity, attitude singularity analysis and posture ability of Stewart manipulator was studied. The theorem of nonsingular posture was presented and proved. The nonsingular workspace area of a Stewart manipulator was determined. The antenna design based on Stewart manipulator satisfied with hemisphere airspace workspace and got the theoretical basis of realizing passing zenith tracing.