This thesis, in the analytical part, deals with kinematic and dynamic analysis of a 6-DOF parallel manipulator of motion simulators with rotary actuators as well as control synthesis of moving platform via robust Sliding Mode Control (SMC) method. In the experimental and practical part, implementation of the SMC and PID controllers on a prototype of this kind has been carried out . The manipulator is basically made up of a fixed base platform, a moving platform, six rotary links connected to the base platform and actuated by the electrical motors and finally six arms which are connected to the rotary links and moving platform through universal and spherical joints, respectively. Kinematic constraint equations are extracted in both, algebraic and differential forms. As a result, the forward and inverse kinematics of the robot are solved. The full nonlinear dynamic equations of the manipulator are derived using Lagrange’s method for constrained systems. After that, using orthogonal complement of the constraint Jacobian matrix and eliminating the Lagrange multipliers, dynamic equations are reduced to a set of six independent differential equations. As an assumption, flexibility and looseness of the joints as well as joint frictions are ignored in the modeling. Due to the nonlinearities, disturbances and uncertainties presenting in the system, it is aimed to design some kind of controllers which have robustness properties and can deal with these issues. Sliding Mode control method, as a justify; Based on the simulation results, to improve the controller performance and decrease the tracking error of the system an Adaptive Sliding Mode Controller (ASMC) is designed and its performance is compared with SMC and CTM. In order to implement the SMC on the prototype, it is designed in joint space. Finally the position of the robot is controlled via PID and sliding mode methods. Keywords: Parallel robot, Motion simulator, Rotary actuator, Robust control, Adaptive control, Sliding mode, Adaptive sliding
