In this thesis, kinematics, dynamics, and control of a 3 DOF [1] parallel mechanism with new architecture with linear hydraulic actuators have been studied. The system is consisted of a fixed platform, a moving platform, and three hydraulic jacks, and a supporting and guiding prismatic column. The two platforms are connected through the hydraulic jacks and the prismatic column. The prismatic column which the moving platform center to fixed platform center, confined the moving platform motion to heave motion as well as both pith and roll motion with respect to the fixed platform. Kinematics equations were derived from the constraint equations algebraically as well as differentially. The dynamic equations were developed with the Lagrange method for constrained systems. By using the orthogonal complement matrix, the Lagrange multipliers have been omitted and the equations of motion have been transformed to the reduced form for the purpose of controller design. The equations are linearized based on independent generalized coordinates in order to use them in fuzzy control approach. In the control synthesis, initially a separate joint algorithm has been used to control the system. In the next step, a Takagi-Sugeno fuzzy controller has been designed. The main feature of the Takagi-Sugeno fuzzy model is to express the nonlinear local dynamics by a linear system model. The overall fuzzy controller of the system is achieved by fuzzy composition of each local system controller. Stability of the controller has been analyzed by Lyapunov method using Linear Matrix Inequality (LMI) approach. Based on this fuzzy controller a model reference adaptive fuzzy controller has been developed in order to deal with structured as well as unstructured uncertainty. The controllers have been implemented in the Isfahan University of Technology Moving Platform Mechanism (IUT-MPM), and their performance have been studied practically as well as numerically using numerical simulation through SIMULINK toolbox of MATLAB. The adaptive fuzzy showed an excellent performance even for tripling the moving platform mass. Key Words Parallel Mechanism, Stewart Platform, Takagi-Sugeno Fuzzy Controller, Model Reference Fuzzy-Adaptive Controller . [1] Degree Of Freedom
