| This paper researches the 6-DOF hydraulic-actuated parallel manipulator of large-scale lab model of Yanshan University. Firstly, the structure, development survey?and application prospect of 6-DOF parallel manipulator are introduced. From the view of controlling, development survey of control methods is introduced also. Compared to the vast literatures on the kinematics of the parallel manipulators, studies on its dynamics are relatively few. The dynamics model of the parallel manipulator is still an unsolved problem. The model of parallel manipulator is too complex to using by control engineering academicians. So this paper studies the Lagrange dynamics model of parallel manipulator deeply, and presents a new dynamics model, which has clearstructure and physical meaning. The same structure of serial manipulator makes some mature control methods can be adopted by parallel manipulator. It presents a new way for controlling. On the base of this model, variable structure control theory is introduced and design methods of traditional variable structure control for nonlinear systems, two variable structure controllers are designed for 6-DOF parallel manipulator: traditional PD sliding mode controller and decentralized PID sliding mode controller, they all based on the reaching law. The physical significances of the reaching law parameters and the qualitative relationships among them in variable structure control are analyzed. A reaching law control method is put forward based on fuzzy rules. To improve control quality, the reaching law parameters are selected by fuzzy rules. In chapter 6, using the proposed controlling methods, a great deal of simulation is done on the 6-DOF parallel manipulator to attain the controlling purpose. The results approve the rationality of this kind of design methods.
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