What are the names of the satellites and robots that have been on Saturn?

The primary spacecraft that have studied Saturn are NASA's Pioneer 11, Voyager 1, and Voyager 2, which provided early data on the planet and its rings. The most significant mission was the Cassini-Huygens mission, which included the Cassini orbiter and the Huygens lander, which descended to Titan, Saturn's largest moon. Cassini operated from 2004 to 2017, delivering extensive information about Saturn and its moons. No other satellites or robots have been sent specifically to Saturn beyond these missions.