The adaptive control of parallel manipulators with LuGre friction compensation was investigated.Firstly,the LuGre friction model was introduced to the dynamic model of parallel manipulators in order to describe the friction behavior within the servo joints. Secondly,the adaptive control algorithm with dynamic friction compensation was constructed,and the availability of the control algorithm was provedby Lyapunov theorem.Finally,a simulation example of a planar 3-RRR parallel manipulator was given to verify the effectiveness of the proposed control algorithm and the necessity of the LuGre friction compensation.