平面3-RRR机构的运动精度问题严重制约着它在工程领域的应用.为有效提高该机构运动精度，基于模糊PID控制算法建立3-RRR平面并联机构运动误差实时控制系统，搭建机构运动误差控制实验平台，研制模糊PID控制系统的LabVIEW虚拟仪器软件以开展机构运动误差实时控制实验研究.结果表明：该系统可以实时控制机构运动误差，提高机构运动精度，且算法较为简单；开发的测控虚拟仪器软件具有界面友好、操作简单、灵活性强、功能易于扩展、智能化程度高等优点.
The application of 3-RRR planar parallel mechanism in engineering field is seriously restricted by the motion precision problem. In order to enhance mechanism motion precision in effect, a fuzzy-PID control system of 3-RRR planar parallel mechanism is established. The experimental control device is set up. And the virtual instrument software of fuzzy-PID real time control system is developed based on LabVIEW. And real time control of mechanism's motion error is studied experimentally. Experimental results show that the motion error of the system can be controlled in real time. It features in arithmetic simplicity and high precision. The developed virtual instrument software not only has a friendly and easy operation interface, but also has high flexibility, scalability, and intelligence.
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