Abstract:The motion characteristics about automatic leveling system of parallel mechanisms based on 2R1T were analyzed,the control strategies and conditions for the simulation model were given. In order to improve the accuracy of position tracking and weaken the influence of uncertain parameters on automatic leveling system, a practical fuzzy adaptive controller was designed based on the kinematics of parallel platform, where fuzzy inference units were utilized to modify the PID parameters in real-time by using the position feedback from the robot actuators. The virtual experiment results demonstrate that the proposed algorithm is able to effectively reduce the position tracking errors compared with the traditional PID controller.