On　the　basis　of　the　analysis　of　structural　characteristics　and　kinematics　characteristics　of　plane　two-DOF　dual-truck　parallel　mechanism　including　workspace,　forward　kinematics,　inverse　kinematics　solution,　blind　area　avoiding,　singular　position　and　velocity　and　acceleration　of　mechanism　feature　point,　the　main　controller　designed　by　DSP　chip　and　the　THB7128-based　stepper　motor　drives　are　focused　on　in　this　paper.　Besides,　the　control　strategy　and　the　control　algorithm　of　the　system　are　studied.　The　mathematical　model　of　the　control　system　is　established.　The　selecting　strategy　of　positive　solutions　and　inverse　solutions　in　the　process　of　mechanism　running　as　well　as　the　singular　sites　strategy　are　made.　Also　a　variety　of　trajectory　planning　mathematics　algorithms　and　leap　area　algorithms　are　designed.　By　C#　language,　the　host　computer　supervisory　control　software　is　developed　which　communicates　with　controller　by　CAN　bus　and　supervises　and　controls　the　motion　of　plane　two-DOF　dual-truck　parallel　mechanism.　©　2011　IEEE.