A new strategy of adaptive sliding mode control (NASMC) for parallel robot on trajectory tracking was proposed.Using the proposed NASMC algorithm, an effective solution was provided for the over adaption problem in current design, the requirement of a prior knowledge of the upper bound of the model uncertainty was removed as well,and the impact response to parallel robot on start time was weakened, so the state of singular configuration was avoided. Theoretical analysis and simulation results show the effectiveness of the proposed strategy.