3TPS/TP parallel robots generally have the characteristics of strong coupling, nonlinearity and multi-variables, which make it difficult to establish a precise mathematical model for the conventional PID(Proportion Integration Differentiation) control algorithm, resulting in a limited application. In this paper, a fuzzy PID control algorithm, which is the combination of the fuzzy control algorithm with the conventional PID control algorithm, was designed and applied to the servo motor in the control system of the 3TPS/TP parallel robot. The simulation results show that the fuzzy PID control algorithm has a better control effect than the conventional PID control algorithm in the control accuracy, stability and adaptability, meeting the expected requirements.