Fig. 1. 2UU-PSU mechanism structure diagram

Fig. 2. 2UU-PSU Dynamic capture point map

Fig. 3. Motion platform data （theoretical values and motion capture values）

Fig. 4. Error of theoretical value and motion capture values of moving platform

Fig. 5. Adams_sys

Fig. 6. Control system internal structure

Fig. 7. Fuzzy adaptive PID control structure block diagram

Fig. 8. Co-simulation control system

Fig. 9. Drive of the branched chain drive torque curve

Fig. 10. Driving torque curve error of the theoretical value and the co-simulation value