中文摘要：

应用ADAMS软件对3自由度并联机构进行建模,并运用ADAMS与MATLAB/Simulink联合仿真的技术进行控制中的参数整定。通过此方法,可以初步确定并联机构在允许的工作行程中的PID参数及所需要的驱动力。从而解决了传统设计过程中机械和控制系统不匹配问题。

英文摘要：

The model of a 3 DOF parallel mechanism was es- tablished in the ADAMS, and the technology of ADAMS and Mat- lab/Simulink union simulation was applied to set the parameters of control system. With this method, the PID parameters of the paral- lel mechanism within allowable operating stroke and required driving forces can be determined initially. Therefore, the problem as the mechanical system does not match to control system in the traditional design process has been solved.