Modeling and Simulation of 3-RRRT Parallel Manipulator Based on MALTAB with SimMechanics

Based on the SimMechanics Toolbox of MATLAB, this paper introduces a method of simulation in researching 3-RRRT parallel manipulator. Through deeply studying fuzzy control theory, for overcoming the shortcomings and inadequacies of the PID control algorithm, a fuzzy adaptive supervisory algorithm is presented in this paper. The paper discusses how to use it to optimize the conventional PID controller, and to achieve more excellent control results. Firstly, a 3-RRRT parallel manipulator model is established by the SimMechanics in Matlab. Secondly, the manipulator´s fuzzy adaptive supervisory controller is built for the model. A simulation experiment is conducted to test the effect of the trajectory tracking through Matlab/SimMechanics. The simulation results demonstrate that the 3-RRRT parallel manipulator realizes the trajectory tracking with very good robustness to the parameter auto-adapted.